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/* FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. 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 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception. *************************************************************************** >>! NOTE: The modification 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. !<< *************************************************************************** FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. Full license text is available on the following link: http://www.freertos.org/a00114.html *************************************************************************** * * * FreeRTOS provides completely free yet professionally developed, * * robust, strictly quality controlled, supported, and cross * * platform software that is more than just the market leader, it * * is the industry's de facto standard. * * * * Help yourself get started quickly while simultaneously helping * * to support the FreeRTOS project by purchasing a FreeRTOS * * tutorial book, reference manual, or both: * * http://www.FreeRTOS.org/Documentation * * * *************************************************************************** http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading the FAQ page "My application does not run, what could be wrong?". Have you defined configASSERT()? http://www.FreeRTOS.org/support - In return for receiving this top quality embedded software for free we request you assist our global community by participating in the support forum. http://www.FreeRTOS.org/training - Investing in training allows your team to be as productive as possible as early as possible. Now you can receive FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers Ltd, and the world's leading authority on the world's leading RTOS. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, including FreeRTOS+Trace - an indispensable productivity tool, a DOS compatible FAT file system, and our tiny thread aware UDP/IP stack. http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS licenses offer ticketed support, indemnification and commercial middleware. http://www.SafeRTOS.com - High Integrity Systems also provide a safety engineered and independently SIL3 certified version for use in safety and mission critical applications that require provable dependability. 1 tab == 4 spaces! */ /* Standard includes. */ #include <stdlib.h> #include <string.h> /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining all the API functions to use the MPU wrappers. That should only be done when task.h is included from an application file. */ #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE /* FreeRTOS includes. */ #include "FreeRTOS.h" #include "task.h" #include "timers.h" #include "StackMacros.h" /* Lint e961 and e750 are suppressed as a MISRA exception justified because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the header files above, but not in this file, in order to generate the correct privileged Vs unprivileged linkage and placement. */ #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */ /* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting functions but without including stdio.h here. */ #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) /* At the bottom of this file are two optional functions that can be used to generate human readable text from the raw data generated by the uxTaskGetSystemState() function. Note the formatting functions are provided for convenience only, and are NOT considered part of the kernel. */ #include <stdio.h> #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */ #if( configUSE_PREEMPTION == 0 ) /* If the cooperative scheduler is being used then a yield should not be performed just because a higher priority task has been woken. */ #define taskYIELD_IF_USING_PREEMPTION() #else #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API() #endif /* Values that can be assigned to the ucNotifyState member of the TCB. */ #define taskNOT_WAITING_NOTIFICATION ( ( uint8_t ) 0 ) #define taskWAITING_NOTIFICATION ( ( uint8_t ) 1 ) #define taskNOTIFICATION_RECEIVED ( ( uint8_t ) 2 ) /* * The value used to fill the stack of a task when the task is created. This * is used purely for checking the high water mark for tasks. */ #define tskSTACK_FILL_BYTE ( 0xa5U ) /* Sometimes the FreeRTOSConfig.h settings only allow a task to be created using dynamically allocated RAM, in which case when any task is deleted it is known that both the task's stack and TCB need to be freed. Sometimes the FreeRTOSConfig.h settings only allow a task to be created using statically allocated RAM, in which case when any task is deleted it is known that neither the task's stack or TCB should be freed. Sometimes the FreeRTOSConfig.h settings allow a task to be created using either statically or dynamically allocated RAM, in which case a member of the TCB is used to record whether the stack and/or TCB were allocated statically or dynamically, so when a task is deleted the RAM that was allocated dynamically is freed again and no attempt is made to free the RAM that was allocated statically. tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE is only true if it is possible for a task to be created using either statically or dynamically allocated RAM. Note that if portUSING_MPU_WRAPPERS is 1 then a protected task can be created with a statically allocated stack and a dynamically allocated TCB. */ #define tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE ( ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) || ( portUSING_MPU_WRAPPERS == 1 ) ) #define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 0 ) #define tskSTATICALLY_ALLOCATED_STACK_ONLY ( ( uint8_t ) 1 ) #define tskSTATICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 2 ) /* * Macros used by vListTask to indicate which state a task is in. */ #define tskBLOCKED_CHAR ( 'B' ) #define tskREADY_CHAR ( 'R' ) #define tskDELETED_CHAR ( 'D' ) #define tskSUSPENDED_CHAR ( 'S' ) /* * Some kernel aware debuggers require the data the debugger needs access to be * global, rather than file scope. */ #ifdef portREMOVE_STATIC_QUALIFIER #define static #endif #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 ) /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is performed in a generic way that is not optimised to any particular microcontroller architecture. */ /* uxTopReadyPriority