575 lines
21 KiB
C
575 lines
21 KiB
C
/*
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* FreeRTOS V202212.00
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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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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* https://www.FreeRTOS.org
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* https://github.com/FreeRTOS
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*
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*/
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/**
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* The first test creates three tasks - two counter tasks (one continuous count
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* and one limited count) and one controller. A "count" variable is shared
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* between all three tasks. The two counter tasks should never be in a "ready"
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* state at the same time. The controller task runs at the same priority as
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* the continuous count task, and at a lower priority than the limited count
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* task.
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*
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* One counter task loops indefinitely, incrementing the shared count variable
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* on each iteration. To ensure it has exclusive access to the variable it
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* raises it's priority above that of the controller task before each
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* increment, lowering it again to it's original priority before starting the
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* next iteration.
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*
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* The other counter task increments the shared count variable on each
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* iteration of it's loop until the count has reached a limit of 0xff - at
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* which point it suspends itself. It will not start a new loop until the
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* controller task has made it "ready" again by calling vTaskResume ().
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* This second counter task operates at a higher priority than controller
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* task so does not need to worry about mutual exclusion of the counter
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* variable.
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*
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* The controller task is in two sections. The first section controls and
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* monitors the continuous count task. When this section is operational the
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* limited count task is suspended. Likewise, the second section controls
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* and monitors the limited count task. When this section is operational the
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* continuous count task is suspended.
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*
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* In the first section the controller task first takes a copy of the shared
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* count variable. To ensure mutual exclusion on the count variable it
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* suspends the continuous count task, resuming it again when the copy has been
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* taken. The controller task then sleeps for a fixed period - during which
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* the continuous count task will execute and increment the shared variable.
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* When the controller task wakes it checks that the continuous count task
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* has executed by comparing the copy of the shared variable with its current
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* value. This time, to ensure mutual exclusion, the scheduler itself is
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* suspended with a call to vTaskSuspendAll (). This is for demonstration
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* purposes only and is not a recommended technique due to its inefficiency.
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*
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* After a fixed number of iterations the controller task suspends the
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* continuous count task, and moves on to its second section.
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*
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* At the start of the second section the shared variable is cleared to zero.
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* The limited count task is then woken from it's suspension by a call to
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* vTaskResume (). As this counter task operates at a higher priority than
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* the controller task the controller task should not run again until the
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* shared variable has been counted up to the limited value causing the counter
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* task to suspend itself. The next line after vTaskResume () is therefore
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* a check on the shared variable to ensure everything is as expected.
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*
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*
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* The second test consists of a couple of very simple tasks that post onto a
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* queue while the scheduler is suspended. This test was added to test parts
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* of the scheduler not exercised by the first test.
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*
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*
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* The final set of two tasks implements a third test. This simply raises the
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* priority of a task while the scheduler is suspended. Again this test was
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* added to exercise parts of the code not covered by the first test.
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*
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* \page Priorities dynamic.c
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* \ingroup DemoFiles
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* <HR>
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*/
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/*
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* Changes from V2.0.0
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*
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+ Delay periods are now specified using variables and constants of
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+ TickType_t rather than unsigned long.
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+ Added a second, simple test that uses the functions
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+ vQueueReceiveWhenSuspendedTask() and vQueueSendWhenSuspendedTask().
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+
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+ Changes from V3.1.1
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+
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+ Added a third simple test that uses the vTaskPrioritySet() function
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+ while the scheduler is suspended.
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+ Modified the controller task slightly to test the calling of
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+ vTaskResumeAll() while the scheduler is suspended.
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*/
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#include <stdlib.h>
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/* Scheduler include files. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "semphr.h"
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/* Demo app include files. */
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#include "dynamic.h"
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#include "print.h"
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/* Function that implements the "limited count" task as described above. */
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static void vLimitedIncrementTask( void * pvParameters );
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/* Function that implements the "continuous count" task as described above. */
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static void vContinuousIncrementTask( void * pvParameters );
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/* Function that implements the controller task as described above. */
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static void vCounterControlTask( void * pvParameters );
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/* The simple test functions that check sending and receiving while the
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* scheduler is suspended. */
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static void vQueueReceiveWhenSuspendedTask( void * pvParameters );
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static void vQueueSendWhenSuspendedTask( void * pvParameters );
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/* The simple test functions that check raising and lowering of task priorities
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* while the scheduler is suspended. */
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static void prvChangePriorityWhenSuspendedTask( void * pvParameters );
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static void prvChangePriorityHelperTask( void * pvParameters );
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/* Demo task specific constants. */
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#define priSTACK_SIZE ( ( unsigned short ) configMINIMAL_STACK_SIZE )
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#define priSLEEP_TIME ( ( TickType_t ) 50 )
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#define priLOOPS ( 5 )
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#define priMAX_COUNT ( ( unsigned long ) 0xff )
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#define priNO_BLOCK ( ( TickType_t ) 0 )
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#define priSUSPENDED_QUEUE_LENGTH ( 1 )
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/*-----------------------------------------------------------*/
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/* Handles to the two counter tasks. These could be passed in as parameters
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* to the controller task to prevent them having to be file scope. */
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static TaskHandle_t xContinuousIncrementHandle, xLimitedIncrementHandle, xChangePriorityWhenSuspendedHandle;
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/* The shared counter variable. This is passed in as a parameter to the two
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* counter variables for demonstration purposes. */
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static unsigned long ulCounter;
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/* Variable used in a similar way by the test that checks the raising and
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* lowering of task priorities while the scheduler is suspended. */
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static unsigned long ulPrioritySetCounter;
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/* Variables used to check that the tasks are still operating without error.
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* Each complete iteration of the controller task increments this variable
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* provided no errors have been found. The variable maintaining the same value
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* is therefore indication of an error. */
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static unsigned short usCheckVariable = ( unsigned short ) 0;
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static portBASE_TYPE xSuspendedQueueSendError = pdFALSE;
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static portBASE_TYPE xSuspendedQueueReceiveError = pdFALSE;
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static portBASE_TYPE xPriorityRaiseWhenSuspendedError = pdFALSE;
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/* Queue used by the second test. */
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QueueHandle_t xSuspendedTestQueue;
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/*-----------------------------------------------------------*/
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/*
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* Start the seven tasks as described at the top of the file.
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* Note that the limited count task is given a higher priority.
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*/
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void vStartDynamicPriorityTasks( void )
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{
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xSuspendedTestQueue = xQueueCreate( priSUSPENDED_QUEUE_LENGTH, sizeof( unsigned long ) );
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xTaskCreate( vContinuousIncrementTask, "CONT_INC", priSTACK_SIZE, ( void * ) &ulCounter, tskIDLE_PRIORITY, &xContinuousIncrementHandle );
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xTaskCreate( vLimitedIncrementTask, "LIM_INC", priSTACK_SIZE, ( void * ) &ulCounter, tskIDLE_PRIORITY + 1, &xLimitedIncrementHandle );
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xTaskCreate( vCounterControlTask, "C_CTRL", priSTACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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xTaskCreate( vQueueSendWhenSuspendedTask, "SUSP_SEND", priSTACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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xTaskCreate( vQueueReceiveWhenSuspendedTask, "SUSP_RECV", priSTACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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xTaskCreate( prvChangePriorityWhenSuspendedTask, "1st_P_CHANGE", priSTACK_SIZE, NULL, tskIDLE_PRIORITY + 1, NULL );
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xTaskCreate( prvChangePriorityHelperTask, "2nd_P_CHANGE", priSTACK_SIZE, NULL, tskIDLE_PRIORITY, &xChangePriorityWhenSuspendedHandle );
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}
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/*-----------------------------------------------------------*/
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/*
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* Just loops around incrementing the shared variable until the limit has been
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* reached. Once the limit has been reached it suspends itself.
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*/
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static void vLimitedIncrementTask( void * pvParameters )
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{
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unsigned long * pulCounter;
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/* Take a pointer to the shared variable from the parameters passed into
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* the task. */
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pulCounter = ( unsigned long * ) pvParameters;
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/* This will run before the control task, so the first thing it does is
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* suspend - the control task will resume it when ready. */
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vTaskSuspend( NULL );
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for( ; ; )
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{
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/* Just count up to a value then suspend. */
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( *pulCounter )++;
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if( *pulCounter >= priMAX_COUNT )
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{
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vTaskSuspend( NULL );
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}
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}
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}
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/*-----------------------------------------------------------*/
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/*
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* Just keep counting the shared variable up. The control task will suspend
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* this task when it wants.
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*/
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static void vContinuousIncrementTask( void * pvParameters )
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{
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unsigned long * pulCounter;
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unsigned portBASE_TYPE uxOurPriority;
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/* Take a pointer to the shared variable from the parameters passed into
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* the task. */
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pulCounter = ( unsigned long * ) pvParameters;
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/* Query our priority so we can raise it when exclusive access to the
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* shared variable is required. */
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uxOurPriority = uxTaskPriorityGet( NULL );
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for( ; ; )
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{
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/* Raise our priority above the controller task to ensure a context
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* switch does not occur while we are accessing this variable. */
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vTaskPrioritySet( NULL, uxOurPriority + 1 );
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( *pulCounter )++;
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vTaskPrioritySet( NULL, uxOurPriority );
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#if configUSE_PREEMPTION == 0
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taskYIELD();
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#endif
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}
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}
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/*-----------------------------------------------------------*/
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/*
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* Controller task as described above.
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*/
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static void vCounterControlTask( void * pvParameters )
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{
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unsigned long ulLastCounter;
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short sLoops;
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short sError = pdFALSE;
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const char * const pcTaskStartMsg = "Priority manipulation tasks started.\r\n";
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const char * const pcTaskFailMsg = "Priority manipulation Task Failed\r\n";
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/* Just to stop warning messages. */
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( void ) pvParameters;
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/* Queue a message for printing to say the task has started. */
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vPrintDisplayMessage( &pcTaskStartMsg );
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for( ; ; )
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{
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/* Start with the counter at zero. */
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ulCounter = ( unsigned long ) 0;
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/* First section : */
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/* Check the continuous count task is running. */
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for( sLoops = 0; sLoops < priLOOPS; sLoops++ )
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{
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/* Suspend the continuous count task so we can take a mirror of the
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* shared variable without risk of corruption. */
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vTaskSuspend( xContinuousIncrementHandle );
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ulLastCounter = ulCounter;
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vTaskResume( xContinuousIncrementHandle );
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/* Now delay to ensure the other task has processor time. */
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vTaskDelay( priSLEEP_TIME );
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/* Check the shared variable again. This time to ensure mutual
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* exclusion the whole scheduler will be locked. This is just for
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* demo purposes! */
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vTaskSuspendAll();
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{
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if( ulLastCounter == ulCounter )
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{
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/* The shared variable has not changed. There is a problem
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* with the continuous count task so flag an error. */
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sError = pdTRUE;
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xTaskResumeAll();
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vPrintDisplayMessage( &pcTaskFailMsg );
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vTaskSuspendAll();
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}
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}
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xTaskResumeAll();
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}
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/* Second section: */
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/* Suspend the continuous counter task so it stops accessing the shared variable. */
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vTaskSuspend( xContinuousIncrementHandle );
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/* Reset the variable. */
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ulCounter = ( unsigned long ) 0;
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/* Resume the limited count task which has a higher priority than us.
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* We should therefore not return from this call until the limited count
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* task has suspended itself with a known value in the counter variable.
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* The scheduler suspension is not necessary but is included for test
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* purposes. */
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vTaskSuspendAll();
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vTaskResume( xLimitedIncrementHandle );
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xTaskResumeAll();
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/* Does the counter variable have the expected value? */
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if( ulCounter != priMAX_COUNT )
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{
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sError = pdTRUE;
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vPrintDisplayMessage( &pcTaskFailMsg );
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}
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if( sError == pdFALSE )
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{
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/* If no errors have occurred then increment the check variable. */
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portENTER_CRITICAL();
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usCheckVariable++;
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portEXIT_CRITICAL();
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}
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#if configUSE_PREEMPTION == 0
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taskYIELD();
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#endif
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/* Resume the continuous count task and do it all again. */
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vTaskResume( xContinuousIncrementHandle );
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}
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}
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/*-----------------------------------------------------------*/
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static void vQueueSendWhenSuspendedTask( void * pvParameters )
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{
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static unsigned long ulValueToSend = ( unsigned long ) 0;
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const char * const pcTaskStartMsg = "Queue send while suspended task started.\r\n";
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const char * const pcTaskFailMsg = "Queue send while suspended failed.\r\n";
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/* Just to stop warning messages. */
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( void ) pvParameters;
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/* Queue a message for printing to say the task has started. */
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vPrintDisplayMessage( &pcTaskStartMsg );
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for( ; ; )
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{
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vTaskSuspendAll();
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{
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/* We must not block while the scheduler is suspended! */
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if( xQueueSend( xSuspendedTestQueue, ( void * ) &ulValueToSend, priNO_BLOCK ) != pdTRUE )
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{
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if( xSuspendedQueueSendError == pdFALSE )
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{
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xTaskResumeAll();
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vPrintDisplayMessage( &pcTaskFailMsg );
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vTaskSuspendAll();
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}
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xSuspendedQueueSendError = pdTRUE;
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}
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}
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xTaskResumeAll();
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vTaskDelay( priSLEEP_TIME );
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++ulValueToSend;
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}
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}
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/*-----------------------------------------------------------*/
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static void vQueueReceiveWhenSuspendedTask( void * pvParameters )
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{
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static unsigned long ulExpectedValue = ( unsigned long ) 0, ulReceivedValue;
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const char * const pcTaskStartMsg = "Queue receive while suspended task started.\r\n";
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const char * const pcTaskFailMsg = "Queue receive while suspended failed.\r\n";
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portBASE_TYPE xGotValue;
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/* Just to stop warning messages. */
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( void ) pvParameters;
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/* Queue a message for printing to say the task has started. */
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vPrintDisplayMessage( &pcTaskStartMsg );
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for( ; ; )
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{
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do
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{
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/* Suspending the scheduler here is fairly pointless and
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* undesirable for a normal application. It is done here purely
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* to test the scheduler. The inner xTaskResumeAll() should
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* never return pdTRUE as the scheduler is still locked by the
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* outer call. */
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vTaskSuspendAll();
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{
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vTaskSuspendAll();
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{
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xGotValue = xQueueReceive( xSuspendedTestQueue, ( void * ) &ulReceivedValue, priNO_BLOCK );
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}
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if( xTaskResumeAll() )
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{
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xSuspendedQueueReceiveError = pdTRUE;
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}
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}
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xTaskResumeAll();
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#if configUSE_PREEMPTION == 0
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taskYIELD();
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#endif
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} while( xGotValue == pdFALSE );
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if( ulReceivedValue != ulExpectedValue )
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{
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if( xSuspendedQueueReceiveError == pdFALSE )
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{
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vPrintDisplayMessage( &pcTaskFailMsg );
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}
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xSuspendedQueueReceiveError = pdTRUE;
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}
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++ulExpectedValue;
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}
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}
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/*-----------------------------------------------------------*/
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static void prvChangePriorityWhenSuspendedTask( void * pvParameters )
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{
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const char * const pcTaskStartMsg = "Priority change when suspended task started.\r\n";
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const char * const pcTaskFailMsg = "Priority change when suspended task failed.\r\n";
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/* Just to stop warning messages. */
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( void ) pvParameters;
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/* Queue a message for printing to say the task has started. */
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vPrintDisplayMessage( &pcTaskStartMsg );
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for( ; ; )
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{
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/* Start with the counter at 0 so we know what the counter should be
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* when we check it next. */
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ulPrioritySetCounter = ( unsigned long ) 0;
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/* Resume the helper task. At this time it has a priority lower than
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* ours so no context switch should occur. */
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vTaskResume( xChangePriorityWhenSuspendedHandle );
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/* Check to ensure the task just resumed has not executed. */
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portENTER_CRITICAL();
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{
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if( ulPrioritySetCounter != ( unsigned long ) 0 )
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{
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xPriorityRaiseWhenSuspendedError = pdTRUE;
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vPrintDisplayMessage( &pcTaskFailMsg );
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}
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}
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portEXIT_CRITICAL();
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/* Now try raising the priority while the scheduler is suspended. */
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vTaskSuspendAll();
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{
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vTaskPrioritySet( xChangePriorityWhenSuspendedHandle, ( configMAX_PRIORITIES - 1 ) );
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/* Again, even though the helper task has a priority greater than
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* ours, it should not have executed yet because the scheduler is
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* suspended. */
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portENTER_CRITICAL();
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{
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if( ulPrioritySetCounter != ( unsigned long ) 0 )
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{
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xPriorityRaiseWhenSuspendedError = pdTRUE;
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vPrintDisplayMessage( &pcTaskFailMsg );
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}
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}
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portEXIT_CRITICAL();
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}
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xTaskResumeAll();
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/* Now the scheduler has been resumed the helper task should
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* immediately preempt us and execute. When it executes it will increment
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* the ulPrioritySetCounter exactly once before suspending itself.
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*
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* We should now always find the counter set to 1. */
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portENTER_CRITICAL();
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{
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if( ulPrioritySetCounter != ( unsigned long ) 1 )
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{
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xPriorityRaiseWhenSuspendedError = pdTRUE;
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vPrintDisplayMessage( &pcTaskFailMsg );
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}
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}
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portEXIT_CRITICAL();
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/* Delay until we try this again. */
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vTaskDelay( priSLEEP_TIME * 2 );
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/* Set the priority of the helper task back ready for the next
|
|
* execution of this task. */
|
|
vTaskSuspendAll();
|
|
vTaskPrioritySet( xChangePriorityWhenSuspendedHandle, tskIDLE_PRIORITY );
|
|
xTaskResumeAll();
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvChangePriorityHelperTask( void * pvParameters )
|
|
{
|
|
/* Just to stop warning messages. */
|
|
( void ) pvParameters;
|
|
|
|
for( ; ; )
|
|
{
|
|
/* This is the helper task for prvChangePriorityWhenSuspendedTask().
|
|
* It has it's priority raised and lowered. When it runs it simply
|
|
* increments the counter then suspends itself again. This allows
|
|
* prvChangePriorityWhenSuspendedTask() to know how many times it has
|
|
* executed. */
|
|
ulPrioritySetCounter++;
|
|
vTaskSuspend( NULL );
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* Called to check that all the created tasks are still running without error. */
|
|
portBASE_TYPE xAreDynamicPriorityTasksStillRunning( void )
|
|
{
|
|
/* Keep a history of the check variables so we know if it has been incremented
|
|
* since the last call. */
|
|
static unsigned short usLastTaskCheck = ( unsigned short ) 0;
|
|
portBASE_TYPE xReturn = pdTRUE;
|
|
|
|
/* Check the tasks are still running by ensuring the check variable
|
|
* is still incrementing. */
|
|
|
|
if( usCheckVariable == usLastTaskCheck )
|
|
{
|
|
/* The check has not incremented so an error exists. */
|
|
xReturn = pdFALSE;
|
|
}
|
|
|
|
if( xSuspendedQueueSendError == pdTRUE )
|
|
{
|
|
xReturn = pdFALSE;
|
|
}
|
|
|
|
if( xSuspendedQueueReceiveError == pdTRUE )
|
|
{
|
|
xReturn = pdFALSE;
|
|
}
|
|
|
|
if( xPriorityRaiseWhenSuspendedError == pdTRUE )
|
|
{
|
|
xReturn = pdFALSE;
|
|
}
|
|
|
|
usLastTaskCheck = usCheckVariable;
|
|
return xReturn;
|
|
}
|