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Added xTaskAbortDelayFromISR() and ulTaskNotifyValueClear() API functions.

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Added tests for xTaskAbortDelayFromISR() into Demo/Common/Minimal/AbortDelay.c.
Added tests for ulTaskNotifyValueClear() into Demo/Common/Minimal/TaskNotify.c.
This commit is contained in:
Richard Barry 2020-01-02 18:55:20 +00:00
parent 0a29d350b1
commit be3561ed53
9 changed files with 336 additions and 27 deletions
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40
FreeRTOS/Demo/CORTEX_LM3Sxxxx_IAR_Keil/settings/RTOSDemo.wsdt
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File diff suppressed because one or more lines are too long

84
FreeRTOS/Demo/Common/Minimal/AbortDelay.c
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@ -101,6 +101,12 @@ static void prvTestAbortingEventGroupWait( void );
static void prvTestAbortingQueueSend( void );
static void prvTestAbortingStreamBufferReceive( void );
/*
* Performs a few tests to cover code paths not otherwise covered by the continuous
* tests.
*/
static void prvPerformSingleTaskTests( void );
/*
* Checks the amount of time a task spent in the Blocked state is within the
* expected bounds.
@ -143,6 +149,10 @@ uint32_t ulTestToPerform = abtNOTIFY_WAIT_ABORTS;
TickType_t xTimeAtStart;
const TickType_t xStartMargin = 2UL;
/* Used to control whether to use xTaskAbortDelay() or xTaskAbortDelayFromISR() so
both are used with all the tests. */
BaseType_t xUseFromISRVersion = pdFALSE, xHigherPriorityTaskWoken;
/* Just to remove compiler warnings. */
( void ) pvParameters;
@ -167,10 +177,46 @@ const TickType_t xStartMargin = 2UL;
raise the priority of the controlling task to that of the blocking
task to minimise discrepancies. */
vTaskPrioritySet( NULL, abtBLOCKING_PRIORITY );
vTaskDelay( xMaxBlockTime + xHalfMaxBlockTime + xStartMargin );
if( xTaskAbortDelay( xBlockingTask ) != pdPASS )
/* For test coverage sometimes xTaskAbortDelay() is used and sometimes
xTaskAbortDelayFromISR() is used. */
if( xUseFromISRVersion == pdFALSE )
{
xErrorOccurred = pdTRUE;
if( xTaskAbortDelay( xBlockingTask ) != pdPASS )
{
xErrorOccurred = pdTRUE;
}
}
else
{
xHigherPriorityTaskWoken = pdFALSE;
/* For test coverage, sometimes xHigherPriorityTaskWoken is used, and
sometimes NULL is used. */
if( ( xControllingCycles % 2 ) == 0 )
{
if( xTaskAbortDelayFromISR( xBlockingTask, &xHigherPriorityTaskWoken ) != pdPASS )
{
xErrorOccurred = pdTRUE;
}
}
else
{
if( xTaskAbortDelayFromISR( xBlockingTask, NULL ) != pdPASS )
{
xErrorOccurred = pdTRUE;
}
}
/* The tasks have the same priority so xHigherPriorityTaskWoken should
never get set. */
if( xHigherPriorityTaskWoken != pdFALSE )
{
xErrorOccurred = pdTRUE;
}
}
/* Reset the priority to the normal controlling priority. */
@ -195,6 +241,13 @@ const TickType_t xStartMargin = 2UL;
/* To indicate this task is still executing. */
xControllingCycles++;
if( ( xControllingCycles % abtMAX_TESTS ) == 0 )
{
/* Looped through all the tests. Switch between using xTaskAbortDelay()
and xTaskAbortDelayFromISR() for the next round of tests. */
xUseFromISRVersion = !xUseFromISRVersion;
}
}
}
/*-----------------------------------------------------------*/
@ -208,6 +261,10 @@ const uint32_t ulMax = 0xffffffffUL;
/* Just to remove compiler warnings. */
( void ) pvParameters;
/* Start by performing a few tests to cover code not exercised in the loops
below. */
prvPerformSingleTaskTests();
xControllingTask = xTaskGetHandle( pcControllingTaskName );
configASSERT( xControllingTask );
@ -264,6 +321,29 @@ const uint32_t ulMax = 0xffffffffUL;
}
/*-----------------------------------------------------------*/
static void prvPerformSingleTaskTests( void )
{
TaskHandle_t xThisTask;
BaseType_t xReturned;
/* Try unblocking this task using both the task and ISR versions of the API -
both should return false as this task is not blocked. */
xThisTask = xTaskGetCurrentTaskHandle();
xReturned = xTaskAbortDelay( xThisTask );
if( xReturned != pdFALSE )
{
xErrorOccurred = pdTRUE;
}
xReturned = xTaskAbortDelayFromISR( xThisTask, NULL );
if( xReturned != pdFALSE )
{
xErrorOccurred = pdTRUE;
}
}
/*-----------------------------------------------------------*/
static void prvTestAbortingTaskDelayUntil( void )
{
TickType_t xTimeAtStart, xLastBlockTime;

38
FreeRTOS/Demo/Common/Minimal/TaskNotify.c
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@ -47,7 +47,12 @@
#endif
#define notifyTASK_PRIORITY ( tskIDLE_PRIORITY )
#define notifyUINT32_MAX ( ( uint32_t ) 0xffffffff )
/* Constants used in tests when setting/clearing bits. */
#define notifyUINT32_MAX ( ( uint32_t ) 0xffffffff )
#define notifyUINT32_HIGH_BYTE ( ( uint32_t ) 0xff000000 )
#define notifyUINT32_LOW_BYTE ( ( uint32_t ) 0x000000ff )
#define notifySUSPENDED_TEST_TIMER_PERIOD pdMS_TO_TICKS( 50 )
/*-----------------------------------------------------------*/
@ -403,6 +408,37 @@ TimerHandle_t xSingleTaskTimer;
/* ------------------------------------------------------------------------
Clear bits in the notification value. */
/* Get the task to set all bits its own notification value. This is not a
normal thing to do, and is only done here for test purposes. */
xTaskNotify( xTaskToNotify, notifyUINT32_MAX, eSetBits );
/* Now clear the top bytes - the returned value from the first call should
indicate that previously all bits were set. */
configASSERT( ulTaskNotifyValueClear( xTaskToNotify, notifyUINT32_HIGH_BYTE ) == notifyUINT32_MAX );
/* Next clear the bottom bytes - the returned value this time should indicate
that the top byte was clear (before the bottom byte was cleared. */
configASSERT( ulTaskNotifyValueClear( xTaskToNotify, notifyUINT32_LOW_BYTE ) == ( notifyUINT32_MAX & ~notifyUINT32_HIGH_BYTE ) );
/* Next clear all bytes - the returned value should indicate that previously the
high and low bytes were clear. */
configASSERT( ulTaskNotifyValueClear( xTaskToNotify, notifyUINT32_MAX ) == ( notifyUINT32_MAX & ~notifyUINT32_HIGH_BYTE & ~notifyUINT32_LOW_BYTE ) );
/* Now all bits should be clear. */
configASSERT( ulTaskNotifyValueClear( xTaskToNotify, notifyUINT32_MAX ) == 0 );
configASSERT( ulTaskNotifyValueClear( xTaskToNotify, 0UL ) == 0 );
configASSERT( ulTaskNotifyValueClear( xTaskToNotify, notifyUINT32_MAX ) == 0 );
/* Now the notification state should be eNotified, so it should now be
possible to clear the notification state. */
configASSERT( xTaskNotifyStateClear( NULL ) == pdTRUE );
configASSERT( xTaskNotifyStateClear( NULL ) == pdFALSE );
/* ------------------------------------------------------------------------
Create a timer that will try notifying this task while it is suspended. */
xSingleTaskTimer = xTimerCreate( "SingleNotify", notifySUSPENDED_TEST_TIMER_PERIOD, pdFALSE, NULL, prvSuspendedTaskTimerTestCallback );

17
FreeRTOS/History.txt
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@ -17,6 +17,21 @@ Changes since the last release:
the variable xPendingTicks.
+ Correct alignment of stack top in RISC-V port when
configISR_STACK_SIZE_WORDS is defined to a non zero value.
+ RISC-V port updates: The machine timer compare register can now be for
any HART, and correct the sequence used to update the 64-bit machine timer
compare register on 32-bit cores.
+ Update Keil projects that use the MPU so memory regions come from linker
script (scatter file) variables instead of being hard coded.
+ Added tickless low power modes into the ARM, IAR and GCC Cortex-M0 compiler
ports.
+ Updated the behaviour of the ARMv7-M MPU (Memory Protection Unit) ports to
match that of the ARMv8-M ports whereby privilege escalations can only
originate from within the kernel's own memory segment.
+ Added LPC51U68 Cortex-M0+ port for GCC (MCUXpresso), Keil and IAR
compilers.
+ Added CORTEX_MPU_STM32L4_Discovery_Keil_STM32Cube demo.
+ Added xTaskAbortDelayFromISR() API function.
+ Added xTaskNotifyValueClear() API function.
Changes between FreeRTOS V10.2.1 and FreeRTOS V10.2.0 released May 13 2019:
@ -515,6 +530,8 @@ Changes between V8.2.0 and V8.2.1 released 24th March 2015.
Windows port.
+ Update the PIC32 port to remove deprecation warnings output by the latest
XC32 compilers.
+ Fix bug when xQueueOverwrite() and xQueueOverwrite() from ISR are used to
overwrite items in two queues that are part of the same set.
Demo application updates:

1
FreeRTOS/Source/include/mpu_prototypes.h
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@ -76,6 +76,7 @@ BaseType_t MPU_xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue,
BaseType_t MPU_xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
uint32_t MPU_ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskNotifyStateClear( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
uint32_t MPU_ulTaskNotifyValueClear( TaskHandle_t xTask, uint32_t ulBitsToClear ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskIncrementTick( void ) FREERTOS_SYSTEM_CALL;
TaskHandle_t MPU_xTaskGetCurrentTaskHandle( void ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskSetTimeOutState( TimeOut_t * const pxTimeOut ) FREERTOS_SYSTEM_CALL;

1
FreeRTOS/Source/include/mpu_wrappers.h
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@ -82,6 +82,7 @@ only for ports that are using the MPU. */
#define xTaskNotifyWait MPU_xTaskNotifyWait
#define ulTaskNotifyTake MPU_ulTaskNotifyTake
#define xTaskNotifyStateClear MPU_xTaskNotifyStateClear
#define ulTaskNotifyValueClear MPU_ulTaskNotifyValueClear
#define xTaskCatchUpTicks MPU_xTaskCatchUpTicks
#define xTaskGetCurrentTaskHandle MPU_xTaskGetCurrentTaskHandle

51
FreeRTOS/Source/include/task.h
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@ -841,6 +841,39 @@ void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xT
*/
BaseType_t xTaskAbortDelay( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
/**
* task. h
* <pre>BaseType_t xTaskAbortDelayFromISR( TaskHandle_t xTask, BaseType_t * const pxHigherPriorityTaskWoken )</pre>
*
* INCLUDE_xTaskAbortDelay must be defined as 1 in FreeRTOSConfig.h for this
* function to be available.
*
* A version of xTaskAbortDelay() that can be used from an interrupt service routine.
*
* A task will enter the Blocked state when it is waiting for an event. The
* event it is waiting for can be a temporal event (waiting for a time), such
* as when vTaskDelay() is called, or an event on an object, such as when
* xQueueReceive() or ulTaskNotifyTake() is called. If the handle of a task
* that is in the Blocked state is used in a call to xTaskAbortDelay() then the
* task will leave the Blocked state, and return from whichever function call
* placed the task into the Blocked state.
*
* @param xTask The handle of the task to remove from the Blocked state.
*
* @param pxHigherPriorityTaskWoken xTaskAbortDelayFromISR() will set
* *pxHigherPriorityTaskWoken to pdTRUE if a task was removed from the Blocked state,
* and the task that was removed from the Blocked state has a priority higher than the
* currently running task. If xTaskAbortDelayFromISR() sets this value to pdTRUE then
* a context switch should be requested before the interrupt is exited.
*
* @return If the task referenced by xTask was not in the Blocked state then
* pdFAIL is returned. Otherwise pdPASS is returned.
*
* \defgroup xTaskAbortDelay xTaskAbortDelayFromISR
* \ingroup TaskCtrl
*/
BaseType_t xTaskAbortDelayFromISR( TaskHandle_t xTask, BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
/**
* task. h
* <pre>UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask );</pre>
@ -2201,6 +2234,24 @@ uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait
*/
BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask );
/**
* task. h
* <PRE>uint32_t ulTaskNotifyValueClear( TaskHandle_t xTask, uint32_t ulBitsToClear );</pre>
*
* Clears the bits specified by the ulBitsToClear bit mask in the notification
* value of the task referenced by xTask.
*
* Set ulBitsToClear to to 0xffffffff (UINT_MAX on 32-bit architectures) to clear
* the notification value to 0. Set ulBitsToClear to 0 to query the task's
* notification value without clearing any bits.
*
* @return The value of the target task's notification value before the bits
* specified by ulBitsToClear were cleared.
* \defgroup ulTaskNotifyValueClear ulTaskNotifyValueClear
* \ingroup TaskNotifications
*/
uint32_t ulTaskNotifyValueClear( TaskHandle_t xTask, uint32_t ulBitsToClear ) PRIVILEGED_FUNCTION;
/**
* task.h
* <pre>void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )</pre>

13
FreeRTOS/Source/portable/Common/mpu_wrappers.c
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@ -586,6 +586,19 @@ BaseType_t xRunningPrivileged = xPortRaisePrivilege();
#endif
/*-----------------------------------------------------------*/
#if( configUSE_TASK_NOTIFICATIONS == 1 )
uint32_t MPU_ulTaskNotifyValueClear( TaskHandle_t xTask, uint32_t ulBitsToClear ) /* FREERTOS_SYSTEM_CALL */
{
uint32_t ulReturn;
BaseType_t xRunningPrivileged = xPortRaisePrivilege();
ulReturn = ulTaskNotifyValueClear( xTask, ulBitsToClear );
vPortResetPrivilege( xRunningPrivileged );
return ulReturn;
}
#endif
/*-----------------------------------------------------------*/
#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
QueueHandle_t MPU_xQueueGenericCreate( UBaseType_t uxQueueLength, UBaseType_t uxItemSize, uint8_t ucQueueType ) /* FREERTOS_SYSTEM_CALL */
{

118
FreeRTOS/Source/tasks.c
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@ -2626,7 +2626,7 @@ BaseType_t xYieldRequired = pdFALSE;
relies on xPendedTicks being wound down to 0 in xTaskResumeAll(). */
configASSERT( uxSchedulerSuspended == 0 );
/* Use xPendedTicks to mimic xTicksToCatchUp number of ticks occuring when
/* Use xPendedTicks to mimic xTicksToCatchUp number of ticks occurring when
the scheduler is suspended so the ticks are executed in xTaskResumeAll(). */
vTaskSuspendAll();
xPendedTicks += xTicksToCatchUp;
@ -2636,6 +2636,91 @@ BaseType_t xYieldRequired = pdFALSE;
}
/*----------------------------------------------------------*/
#if ( INCLUDE_xTaskAbortDelay == 1 )
BaseType_t xTaskAbortDelayFromISR( TaskHandle_t xTask, BaseType_t * const pxHigherPriorityTaskWoken )
{
TCB_t *pxTCB = xTask;
BaseType_t xReturn;
UBaseType_t uxSavedInterruptStatus;
configASSERT( pxTCB );
/* RTOS ports that support interrupt nesting have the concept of a maximum
system call (or maximum API call) interrupt priority. Interrupts that are
above the maximum system call priority are kept permanently enabled, even
when the RTOS kernel is in a critical section, but cannot make any calls to
FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
failure if a FreeRTOS API function is called from an interrupt that has been
assigned a priority above the configured maximum system call priority.
Only FreeRTOS functions that end in FromISR can be called from interrupts
that have been assigned a priority at or (logically) below the maximum
system call interrupt priority. FreeRTOS maintains a separate interrupt
safe API to ensure interrupt entry is as fast and as simple as possible.
More information (albeit Cortex-M specific) is provided on the following
link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
{
/* A task can only be prematurely removed from the Blocked state if
it is actually in the Blocked state. */
if( eTaskGetState( xTask ) == eBlocked )
{
xReturn = pdPASS;
/* Remove the reference to the task from the blocked list. A higher
priority interrupt won't touch the xStateListItem because of the
critical section. */
( void ) uxListRemove( &( pxTCB->xStateListItem ) );
/* Is the task waiting on an event also? If so remove it from
the event list too. */
if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
{
( void ) uxListRemove( &( pxTCB->xEventListItem ) );
/* This lets the task know it was forcibly removed from the
blocked state so it should not re-evaluate its block time and
then block again. */
pxTCB->ucDelayAborted = pdTRUE;
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* Place the unblocked task into the appropriate ready list. */
prvAddTaskToReadyList( pxTCB );
if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
{
if( pxHigherPriorityTaskWoken != NULL )
{
/* Pend the yield to be performed when the scheduler
is unsuspended. */
*pxHigherPriorityTaskWoken = pdTRUE;
}
}
else
{
mtCOVERAGE_TEST_MARKER();
}
}
else
{
xReturn = pdFAIL;
}
}
portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
return xReturn;
}
#endif
/*----------------------------------------------------------*/
#if ( INCLUDE_xTaskAbortDelay == 1 )
BaseType_t xTaskAbortDelay( TaskHandle_t xTask )
@ -2667,6 +2752,10 @@ BaseType_t xYieldRequired = pdFALSE;
if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
{
( void ) uxListRemove( &( pxTCB->xEventListItem ) );
/* This lets the task know it was forcibly removed from the
blocked state so it should not re-evaluate its block time and
then block again. */
pxTCB->ucDelayAborted = pdTRUE;
}
else
@ -5096,7 +5185,6 @@ TickType_t uxReturn;
}
#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/
#if( configUSE_TASK_NOTIFICATIONS == 1 )
@ -5130,6 +5218,32 @@ TickType_t uxReturn;
#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/
#if( configUSE_TASK_NOTIFICATIONS == 1 )
uint32_t ulTaskNotifyValueClear( TaskHandle_t xTask, uint32_t ulBitsToClear )
{
TCB_t *pxTCB;
uint32_t ulReturn;
/* If null is passed in here then it is the calling task that is having
its notification state cleared. */
pxTCB = prvGetTCBFromHandle( xTask );
taskENTER_CRITICAL();
{
/* Return the notification as it was before the bits were cleared,
then clear the bit mask. */
ulReturn = pxCurrentTCB->ulNotifiedValue;
pxTCB->ulNotifiedValue &= ~ulBitsToClear;
}
taskEXIT_CRITICAL();
return ulReturn;
}
#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/
#if( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
uint32_t ulTaskGetIdleRunTimeCounter( void )