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60 changed files with 2039 additions and 279 deletions
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@ -1,6 +1,6 @@
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/*
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* FreeRTOS Kernel V10.2.1
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* Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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* FreeRTOS Kernel V10.3.1
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* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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@ -43,10 +43,10 @@ extern "C" {
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* MACROS AND DEFINITIONS
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*----------------------------------------------------------*/
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#define tskKERNEL_VERSION_NUMBER "V10.2.0"
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#define tskKERNEL_VERSION_NUMBER "V10.3.1"
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#define tskKERNEL_VERSION_MAJOR 10
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#define tskKERNEL_VERSION_MINOR 2
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#define tskKERNEL_VERSION_BUILD 0
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#define tskKERNEL_VERSION_MINOR 3
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#define tskKERNEL_VERSION_BUILD 1
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/* MPU region parameters passed in ulParameters
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* of MemoryRegion_t struct. */
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@ -314,13 +314,13 @@ is used in assert() statements. */
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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 task attempts to access it.
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xTaskCreate( vTaskCode, "NAME", STACK_SIZE, &ucParameterToPass, tskIDLE_PRIORITY, &xHandle );
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configASSERT( xHandle );
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configASSERT( xHandle );
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// Use the handle to delete the task.
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if( xHandle != NULL )
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{
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vTaskDelete( xHandle );
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}
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if( xHandle != NULL )
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{
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vTaskDelete( xHandle );
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}
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}
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</pre>
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* \defgroup xTaskCreate xTaskCreate
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@ -498,9 +498,9 @@ static const TaskParameters_t xCheckTaskParameters =
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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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{ 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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@ -584,9 +584,9 @@ static const TaskParameters_t xCheckTaskParameters =
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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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{ 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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&xTaskBuffer; // Holds the task's data structure.
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@ -831,6 +831,11 @@ void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xT
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* task will leave the Blocked state, and return from whichever function call
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* placed the task into the Blocked state.
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*
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* There is no 'FromISR' version of this function as an interrupt would need to
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* know which object a task was blocked on in order to know which actions to
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* take. For example, if the task was blocked on a queue the interrupt handler
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* would then need to know if the queue was locked.
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*
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* @param xTask The handle of the task to remove from the Blocked state.
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*
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* @return If the task referenced by xTask was not in the Blocked state then
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@ -1738,7 +1743,7 @@ void vTaskGetRunTimeStats( char *pcWriteBuffer ) PRIVILEGED_FUNCTION; /*lint !e9
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/**
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* task. h
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* <PRE>TickType_t xTaskGetIdleRunTimeCounter( void );</PRE>
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* <PRE>uint32_t ulTaskGetIdleRunTimeCounter( void );</PRE>
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*
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* configGENERATE_RUN_TIME_STATS and configUSE_STATS_FORMATTING_FUNCTIONS
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* must both be defined as 1 for this function to be available. The application
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@ -1753,7 +1758,7 @@ void vTaskGetRunTimeStats( char *pcWriteBuffer ) PRIVILEGED_FUNCTION; /*lint !e9
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* of the accumulated time value depends on the frequency of the timer
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* configured by the portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() macro.
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* While uxTaskGetSystemState() and vTaskGetRunTimeStats() writes the total
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* execution time of each task into a buffer, xTaskGetIdleRunTimeCounter()
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* execution time of each task into a buffer, ulTaskGetIdleRunTimeCounter()
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* returns the total execution time of just the idle task.
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*
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* @return The total run time of the idle task. This is the amount of time the
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@ -1761,10 +1766,10 @@ void vTaskGetRunTimeStats( char *pcWriteBuffer ) PRIVILEGED_FUNCTION; /*lint !e9
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* frequency configured using the portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() and
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* portGET_RUN_TIME_COUNTER_VALUE() macros.
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*
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* \defgroup xTaskGetIdleRunTimeCounter xTaskGetIdleRunTimeCounter
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* \defgroup ulTaskGetIdleRunTimeCounter ulTaskGetIdleRunTimeCounter
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* \ingroup TaskUtils
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*/
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TickType_t xTaskGetIdleRunTimeCounter( void ) PRIVILEGED_FUNCTION;
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uint32_t ulTaskGetIdleRunTimeCounter( void ) PRIVILEGED_FUNCTION;
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/**
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* task. h
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@ -2201,6 +2206,121 @@ uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait
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*/
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BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask );
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/**
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* task. h
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* <PRE>uint32_t ulTaskNotifyValueClear( TaskHandle_t xTask, uint32_t ulBitsToClear );</pre>
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*
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* Clears the bits specified by the ulBitsToClear bit mask in the notification
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* value of the task referenced by xTask.
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*
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* Set ulBitsToClear to 0xffffffff (UINT_MAX on 32-bit architectures) to clear
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* the notification value to 0. Set ulBitsToClear to 0 to query the task's
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* notification value without clearing any bits.
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*
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* @return The value of the target task's notification value before the bits
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* specified by ulBitsToClear were cleared.
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* \defgroup ulTaskNotifyValueClear ulTaskNotifyValueClear
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* \ingroup TaskNotifications
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*/
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uint32_t ulTaskNotifyValueClear( TaskHandle_t xTask, uint32_t ulBitsToClear ) PRIVILEGED_FUNCTION;
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/**
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* task.h
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* <pre>void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )</pre>
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*
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* Capture the current time for future use with xTaskCheckForTimeOut().
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*
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* @param pxTimeOut Pointer to a timeout object into which the current time
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* is to be captured. The captured time includes the tick count and the number
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* of times the tick count has overflowed since the system first booted.
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* \defgroup vTaskSetTimeOutState vTaskSetTimeOutState
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* \ingroup TaskCtrl
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*/
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void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut ) PRIVILEGED_FUNCTION;
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/**
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* task.h
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* <pre>BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait );</pre>
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*
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* Determines if pxTicksToWait ticks has passed since a time was captured
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* using a call to vTaskSetTimeOutState(). The captured time includes the tick
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* count and the number of times the tick count has overflowed.
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*
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* @param pxTimeOut The time status as captured previously using
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* vTaskSetTimeOutState. If the timeout has not yet occurred, it is updated
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* to reflect the current time status.
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* @param pxTicksToWait The number of ticks to check for timeout i.e. if
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* pxTicksToWait ticks have passed since pxTimeOut was last updated (either by
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* vTaskSetTimeOutState() or xTaskCheckForTimeOut()), the timeout has occurred.
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* If the timeout has not occurred, pxTIcksToWait is updated to reflect the
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* number of remaining ticks.
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*
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* @return If timeout has occurred, pdTRUE is returned. Otherwise pdFALSE is
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* returned and pxTicksToWait is updated to reflect the number of remaining
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* ticks.
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*
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* @see https://www.freertos.org/xTaskCheckForTimeOut.html
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*
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* Example Usage:
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* <pre>
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// Driver library function used to receive uxWantedBytes from an Rx buffer
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// that is filled by a UART interrupt. If there are not enough bytes in the
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// Rx buffer then the task enters the Blocked state until it is notified that
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// more data has been placed into the buffer. If there is still not enough
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// data then the task re-enters the Blocked state, and xTaskCheckForTimeOut()
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// is used to re-calculate the Block time to ensure the total amount of time
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// spent in the Blocked state does not exceed MAX_TIME_TO_WAIT. This
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// continues until either the buffer contains at least uxWantedBytes bytes,
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// or the total amount of time spent in the Blocked state reaches
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// MAX_TIME_TO_WAIT – at which point the task reads however many bytes are
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// available up to a maximum of uxWantedBytes.
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size_t xUART_Receive( uint8_t *pucBuffer, size_t uxWantedBytes )
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{
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size_t uxReceived = 0;
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TickType_t xTicksToWait = MAX_TIME_TO_WAIT;
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TimeOut_t xTimeOut;
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// Initialize xTimeOut. This records the time at which this function
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// was entered.
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vTaskSetTimeOutState( &xTimeOut );
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// Loop until the buffer contains the wanted number of bytes, or a
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// timeout occurs.
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while( UART_bytes_in_rx_buffer( pxUARTInstance ) < uxWantedBytes )
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{
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// The buffer didn't contain enough data so this task is going to
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// enter the Blocked state. Adjusting xTicksToWait to account for
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// any time that has been spent in the Blocked state within this
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// function so far to ensure the total amount of time spent in the
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// Blocked state does not exceed MAX_TIME_TO_WAIT.
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if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) != pdFALSE )
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{
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//Timed out before the wanted number of bytes were available,
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// exit the loop.
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break;
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}
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// Wait for a maximum of xTicksToWait ticks to be notified that the
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// receive interrupt has placed more data into the buffer.
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ulTaskNotifyTake( pdTRUE, xTicksToWait );
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}
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// Attempt to read uxWantedBytes from the receive buffer into pucBuffer.
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// The actual number of bytes read (which might be less than
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// uxWantedBytes) is returned.
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uxReceived = UART_read_from_receive_buffer( pxUARTInstance,
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pucBuffer,
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uxWantedBytes );
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return uxReceived;
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}
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</pre>
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* \defgroup xTaskCheckForTimeOut xTaskCheckForTimeOut
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* \ingroup TaskCtrl
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*/
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BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait ) PRIVILEGED_FUNCTION;
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/*-----------------------------------------------------------
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* SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
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*----------------------------------------------------------*/
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@ -2317,17 +2437,6 @@ TickType_t uxTaskResetEventItemValue( void ) PRIVILEGED_FUNCTION;
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*/
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TaskHandle_t xTaskGetCurrentTaskHandle( void ) PRIVILEGED_FUNCTION;
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/*
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* Capture the current time status for future reference.
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*/
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void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut ) PRIVILEGED_FUNCTION;
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/*
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* Compare the time status now with that previously captured to see if the
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* timeout has expired.
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*/
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BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait ) PRIVILEGED_FUNCTION;
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/*
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* Shortcut used by the queue implementation to prevent unnecessary call to
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* taskYIELD();
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@ -2383,6 +2492,19 @@ void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle ) PRIVIL
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*/
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void vTaskStepTick( const TickType_t xTicksToJump ) PRIVILEGED_FUNCTION;
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/* Correct the tick count value after the application code has held
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interrupts disabled for an extended period. xTicksToCatchUp is the number
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of tick interrupts that have been missed due to interrupts being disabled.
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Its value is not computed automatically, so must be computed by the
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application writer.
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This function is similar to vTaskStepTick(), however, unlike
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vTaskStepTick(), xTaskCatchUpTicks() may move the tick count forward past a
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time at which a task should be removed from the blocked state. That means
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tasks may have to be removed from the blocked state as the tick count is
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moved. */
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BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp ) PRIVILEGED_FUNCTION;
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/*
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* Only available when configUSE_TICKLESS_IDLE is set to 1.
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* Provided for use within portSUPPRESS_TICKS_AND_SLEEP() to allow the port
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