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Recently vTaskDelayUntil() was updated to xTaskDelayUntil() because the function now returns a value. The PR didn't make the same change in the MPU port, or update the constants required to include the xTaskDelayUntil() function in the build. (#199)

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This PR:
Changes the INCLUDE_vTaskDelayUntil compile time constant to INCLUDE_xTaskDelayUntil.
Updates FreeRTOS.h to ensure backward compatibility for projects that already have INCLUDE_vTaskDelayUntil defined.
Updates the MPU prototypes, wrapper and implementation to use the updated xTaskDelayUntil() function.

Tests to be checked into the FreeRTOS/FreeRTOS repository after this PR.
This commit is contained in:
RichardBarry 2020-10-11 14:04:49 -07:00 committed by GitHub
parent 71be31bb61
commit 5fb26de019
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6 changed files with 45 additions and 19 deletions
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24
include/FreeRTOS.h
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@ -126,8 +126,28 @@
#define INCLUDE_vTaskSuspend 0
#endif
#ifndef INCLUDE_vTaskDelayUntil
#define INCLUDE_vTaskDelayUntil 0
#ifdef INCLUDE_xTaskDelayUntil
#ifdef INCLUDE_vTaskDelayUntil
/* INCLUDE_vTaskDelayUntil was replaced by INCLUDE_xTaskDelayUntil. Backward
* compatibility is maintained if only one or the other is defined, but
* there is a conflict if both are defined. */
#error INCLUDE_vTaskDelayUntil and INCLUDE_xTaskDelayUntil are both defined. INCLUDE_vTaskDelayUntil is no longer required and should be removed
#endif
#endif
#ifndef INCLUDE_xTaskDelayUntil
#ifdef INCLUDE_vTaskDelayUntil
/* If INCLUDE_vTaskDelayUntil is set but INCLUDE_xTaskDelayUntil is not then
* the project's FreeRTOSConfig.h probably pre-dates the introduction of
* xTaskDelayUntil and setting INCLUDE_xTaskDelayUntil to whatever
* INCLUDE_vTaskDelayUntil is set to will ensure backward compatibility.
*/
#define INCLUDE_xTaskDelayUntil INCLUDE_vTaskDelayUntil
#endif
#endif
#ifndef INCLUDE_xTaskDelayUntil
#define INCLUDE_xTaskDelayUntil 0
#endif
#ifndef INCLUDE_vTaskDelay

2
include/mpu_prototypes.h
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@ -58,7 +58,7 @@ void MPU_vTaskAllocateMPURegions( TaskHandle_t xTask,
const MemoryRegion_t * const pxRegions ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskDelete( TaskHandle_t xTaskToDelete ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskDelay( const TickType_t xTicksToDelay ) FREERTOS_SYSTEM_CALL;
void MPU_vTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
BaseType_t MPU_xTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
const TickType_t xTimeIncrement ) FREERTOS_SYSTEM_CALL;
BaseType_t MPU_xTaskAbortDelay( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
UBaseType_t MPU_uxTaskPriorityGet( const TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;

2
include/mpu_wrappers.h
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@ -51,7 +51,7 @@
#define vTaskAllocateMPURegions MPU_vTaskAllocateMPURegions
#define vTaskDelete MPU_vTaskDelete
#define vTaskDelay MPU_vTaskDelay
#define vTaskDelayUntil MPU_vTaskDelayUntil
#define xTaskDelayUntil MPU_xTaskDelayUntil
#define xTaskAbortDelay MPU_xTaskAbortDelay
#define uxTaskPriorityGet MPU_uxTaskPriorityGet
#define eTaskGetState MPU_eTaskGetState

14
include/task.h
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@ -750,7 +750,7 @@ void vTaskDelete( TaskHandle_t xTaskToDelete ) PRIVILEGED_FUNCTION;
* of controlling the frequency of a periodic task as the path taken through the
* code, as well as other task and interrupt activity, will effect the frequency
* at which vTaskDelay() gets called and therefore the time at which the task
* next executes. See vTaskDelayUntil() for an alternative API function designed
* next executes. See xTaskDelayUntil() for an alternative API function designed
* to facilitate fixed frequency execution. It does this by specifying an
* absolute time (rather than a relative time) at which the calling task should
* unblock.
@ -784,7 +784,7 @@ void vTaskDelay( const TickType_t xTicksToDelay ) PRIVILEGED_FUNCTION;
* BaseType_t xTaskDelayUntil( TickType_t *pxPreviousWakeTime, const TickType_t xTimeIncrement );
* </pre>
*
* INCLUDE_vTaskDelayUntil must be defined as 1 for this function to be available.
* INCLUDE_xTaskDelayUntil must be defined as 1 for this function to be available.
* See the configuration section for more information.
*
* Delay a task until a specified time. This function can be used by periodic
@ -802,8 +802,8 @@ void vTaskDelay( const TickType_t xTicksToDelay ) PRIVILEGED_FUNCTION;
* is called, xTaskDelayUntil () specifies the absolute (exact) time at which it wishes to
* unblock.
*
* The constant portTICK_PERIOD_MS can be used to calculate real time from the tick
* rate - with the resolution of one tick period.
* The macro pdMS_TO_TICKS() can be used to calculate the number of ticks from a
* time specified in milliseconds with a resolution of one tick period.
*
* @param pxPreviousWakeTime Pointer to a variable that holds the time at which the
* task was last unblocked. The variable must be initialised with the current time
@ -846,6 +846,10 @@ void vTaskDelay( const TickType_t xTicksToDelay ) PRIVILEGED_FUNCTION;
BaseType_t xTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
const TickType_t xTimeIncrement ) PRIVILEGED_FUNCTION;
/*
* vTaskDelayUntil() is the older version of xTaskDelayUntil() and does not
* return a value.
*/
#define vTaskDelayUntil( pxPreviousWakeTime, xTimeIncrement ) \
{ \
( void ) xTaskDelayUntil( pxPreviousWakeTime, xTimeIncrement ); \
@ -1311,7 +1315,7 @@ void vTaskEndScheduler( void ) PRIVILEGED_FUNCTION;
* made.
*
* API functions that have the potential to cause a context switch (for example,
* vTaskDelayUntil(), xQueueSend(), etc.) must not be called while the scheduler
* xTaskDelayUntil(), xQueueSend(), etc.) must not be called while the scheduler
* is suspended.
*
* Example usage:

10
portable/Common/mpu_wrappers.c
View File

@ -171,14 +171,16 @@ void MPU_vTaskAllocateMPURegions( TaskHandle_t xTask,
#endif
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskDelayUntil == 1 )
void MPU_vTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
TickType_t xTimeIncrement ) /* FREERTOS_SYSTEM_CALL */
#if ( INCLUDE_xTaskDelayUntil == 1 )
BaseType_t MPU_xTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
TickType_t xTimeIncrement ) /* FREERTOS_SYSTEM_CALL */
{
BaseType_t xRunningPrivileged = xPortRaisePrivilege();
BaseType_t xReturn;
vTaskDelayUntil( pxPreviousWakeTime, xTimeIncrement );
xReturn = xTaskDelayUntil( pxPreviousWakeTime, xTimeIncrement );
vPortResetPrivilege( xRunningPrivileged );
return xReturn;
}
#endif
/*-----------------------------------------------------------*/

6
tasks.c
View File

@ -1244,10 +1244,10 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
#endif /* INCLUDE_vTaskDelete */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskDelayUntil == 1 )
#if ( INCLUDE_xTaskDelayUntil == 1 )
BaseType_t xTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
const TickType_t xTimeIncrement )
const TickType_t xTimeIncrement )
{
TickType_t xTimeToWake;
BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
@ -1328,7 +1328,7 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
return xShouldDelay;
}
#endif /* INCLUDE_vTaskDelayUntil */
#endif /* INCLUDE_xTaskDelayUntil */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskDelay == 1 )