Changes to the FreeRTOS code:
+ Introduced xTaskCreateStatic() to allow tasks to be created without any dynamic memory allocation. + When a task notification is used to unblock a task from an ISR, but the xHigherPriorityTaskWoken parameter is not used, then pend a context switch to occur during the next tick interrupt. Demo application changes: + Updated TaskNotify.c to test the case where a task is unblocked by an ISR, but does not use its xHigherPriorityTaskWoken parameter. + Updated the Win32 MSVC project to test statically allocated tasks being created and deleted. + Introduced StaticAllocation.c standard demo task.
This commit is contained in:
Richard Barry
@ -128,6 +128,12 @@ typedef enum
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eSetValueWithoutOverwrite /* Set the task's notification value if the previous value has been read by the task. */
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} eNotifyAction;
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/* For data hiding purposes. */
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typedef enum
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{
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eNothing = 0
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} eDummy;
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/*
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* Used internally only.
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*/
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@ -183,6 +189,65 @@ typedef enum
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eNoTasksWaitingTimeout /* No tasks are waiting for a timeout so it is safe to enter a sleep mode that can only be exited by an external interrupt. */
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} eSleepModeStatus;
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/* Value that can be assigned to the eNotifyState member of the TCB. */
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typedef enum
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{
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eNotWaitingNotification = 0,
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eWaitingNotification,
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eNotified
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} eNotifyValue;
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/*
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* FreeRTOS implements a strict data hiding policy, so the real task control
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* block (TCB) structure is not accessible to the application code. However, if
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* the application writer wants to statically allocate a TCB then the size of
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* the TCB needs to be know. The dummy TCB structure below is used for this
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* purpose. Its size will allows match the size of the real TCB, no matter what
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* the FreeRTOSConfig.h settings.
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*/
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typedef struct xDUMMY_TCB
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{
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void *pxDummy1;
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#if ( portUSING_MPU_WRAPPERS == 1 )
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xMPU_SETTINGS xDummy2;
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#endif
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ListItem_t xDummy3[ 2 ];
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UBaseType_t uxDummy5;
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void *pxDummy6;
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uint8_t ucDummy7[ configMAX_TASK_NAME_LEN ];
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#if ( portSTACK_GROWTH > 0 )
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void *pxDummy8;
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#endif
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#if ( portCRITICAL_NESTING_IN_TCB == 1 )
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UBaseType_t uxDummy9;
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#endif
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#if ( configUSE_TRACE_FACILITY == 1 )
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UBaseType_t uxDummy10[ 2 ];
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#endif
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#if ( configUSE_MUTEXES == 1 )
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UBaseType_t uxDummy12[ 2 ];
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#endif
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#if ( configUSE_APPLICATION_TASK_TAG == 1 )
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void *pxDummy14;
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#endif
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#if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
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void pvDummy15[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
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#endif
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#if ( configGENERATE_RUN_TIME_STATS == 1 )
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uint32_t ulDummy16;
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#endif
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#if ( configUSE_NEWLIB_REENTRANT == 1 )
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struct _reent xDummy17;
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#endif
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#if ( configUSE_TASK_NOTIFICATIONS == 1 )
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uint32_t ulDummy18;
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eDummy eDummy19;
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#endif
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#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
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UBaseType_t uxDummy20;
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#endif
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} DummyTCB_t;
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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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@ -342,7 +407,112 @@ is used in assert() statements. */
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* \defgroup xTaskCreate xTaskCreate
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* \ingroup Tasks
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*/
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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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#define xTaskCreate( pvTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask ) xTaskGenericCreate( ( pvTaskCode ), ( pcName ), ( usStackDepth ), ( pvParameters ), ( uxPriority ), ( pxCreatedTask ), ( NULL ), ( NULL ), ( NULL ) )
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/**
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* task. h
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*<pre>
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BaseType_t xTaskCreateStatic(
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TaskFunction_t pvTaskCode,
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const char * const pcName,
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uint16_t usStackDepth,
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void *pvParameters,
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UBaseType_t uxPriority,
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TaskHandle_t *pvCreatedTask,
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StackType_t *pxStackBuffer,
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DummyTCB_t *pxTCBBuffer
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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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* If a task is created using xTaskCreate() then the stack and task control
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* block (TCB) used by the task are allocated dynamically. If a task is created
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* using xTaskCreateStatic() then the application writer can optionally provide
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* the buffers that will hold the task stack and TCB respectively.
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* xTaskCreateStatic() therefore allows tasks to be created without any dynamic
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* memory allocation.
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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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*
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* @param pcName A descriptive name for the task. This is mainly used to
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* facilitate debugging. The maximum length of the string is defined by
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* configMAX_TASK_NAME_LEN in FreeRTOSConfig.h.
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*
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* @param usStackDepth The size of the task stack specified as the number of
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* variables the stack can hold - not the number of bytes. For example, if
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* the stack is 32-bits wide and usStackDepth is defined as 100 then 400 bytes
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* will be allocated for stack storage.
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*
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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 will run.
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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. Pass as NULL if the handle is not required.
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*
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* @param pxStackBuffer If pxStackBuffer is NULL then the stack used by the
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* task will be allocated dynamically, just as if the task was created using
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* xTaskCreate(). if pxStackBuffer is not NULL then it must point to a
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* StackType_t array that has at least usStackDepth indexes - the array will
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* then be used as the task's stack.
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*
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* @param pxTCBBuffer If pxTCBBuffer is NULL then the TCB (which is the
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* structures used internally within FreeRTOS to hold information on the task)
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* will be allocated dynamically, just as when xTaskCreate() is used. If
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* pxTCBBuffer is not NULL then it must point to a variable of type DummyTCB_T,
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* which will then be used as the TCB of the task being created.
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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 projdefs.h
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*
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* Example usage:
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<pre>
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// Dimensions the buffer that the task being created will use as its stack.
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// NOTE: This is the number of words the stack will hold, not the number of
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// bytes. For example, if each stack item is 32-bits, and this is set to 100,
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// then 400 bytes (100 * 32-bits) will be allocated.
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#define STACK_SIZE 200
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// Structure that will hold the TCB of the task being created.
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DummyTCB_t xTCB;
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// Buffer that the task being created will use as its stack.
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StackType_t xStack[ STACK_SIZE ];
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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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}
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// Function that creates a task.
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void vOtherFunction( void )
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{
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static uint8_t ucParameterToPass;
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TaskHandle_t xHandle = NULL;
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// Create the task without using any dynamic memory allocation.
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xTaskCreate( vTaskCode, // As per xTaskCreate() parameter.
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"NAME", // As per xTaskCreate() parameter.
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STACK_SIZE, // As per xTaskCreate() parameter.
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&ucParameterToPass, // As per xTaskCreate() parameter.
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tskIDLE_PRIORITY, // As per xTaskCreate() parameter.
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&xHandle, // As per xTaskCreate() parameter.
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xStack, // Pointer to the buffer that the task being created will use as its stack.
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&xTCB ); // Pointer to a structure in which the TCB of the task being created will be stored.
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}
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</pre>
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* \defgroup xTaskCreateStatic xTaskCreateStatic
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* \ingroup Tasks
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*/
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#if( configSUPPORT_STATIC_ALLOCATION == 1 )
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#define xTaskCreateStatic( pvTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask, puxStackBuffer, pxDummyTCB ) xTaskGenericCreate( ( pvTaskCode ), ( pcName ), ( usStackDepth ), ( pvParameters ), ( uxPriority ), ( pxCreatedTask ), ( puxStackBuffer ), ( pxDummyTCB ), ( NULL ) )
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#endif
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/**
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* task. h
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@ -411,7 +581,7 @@ TaskHandle_t xHandle;
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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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#define xTaskCreateRestricted( x, pxCreatedTask ) xTaskGenericCreate( ((x)->pvTaskCode), ((x)->pcName), ((x)->usStackDepth), ((x)->pvParameters), ((x)->uxPriority), (pxCreatedTask), ((x)->puxStackBuffer), ( NULL ), ((x)->xRegions) )
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/**
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* task. h
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@ -1983,7 +2153,7 @@ BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder ) PRIVILEGE
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* Generic version of the task creation function which is in turn called by the
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* xTaskCreate() and xTaskCreateRestricted() macros.
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*/
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BaseType_t xTaskGenericCreate( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask, StackType_t * const puxStackBuffer, const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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BaseType_t xTaskGenericCreate( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask, StackType_t * const puxStackBuffer, DummyTCB_t * const pxTCBBuffer, const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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/*
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* Get the uxTCBNumber assigned to the task referenced by the xTask parameter.
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