2 FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
\r
4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
\r
5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
\r
7 ***************************************************************************
\r
9 * FreeRTOS tutorial books are available in pdf and paperback. *
\r
10 * Complete, revised, and edited pdf reference manuals are also *
\r
13 * Purchasing FreeRTOS documentation will not only help you, by *
\r
14 * ensuring you get running as quickly as possible and with an *
\r
15 * in-depth knowledge of how to use FreeRTOS, it will also help *
\r
16 * the FreeRTOS project to continue with its mission of providing *
\r
17 * professional grade, cross platform, de facto standard solutions *
\r
18 * for microcontrollers - completely free of charge! *
\r
20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
\r
22 * Thank you for using FreeRTOS, and thank you for your support! *
\r
24 ***************************************************************************
\r
27 This file is part of the FreeRTOS distribution.
\r
29 FreeRTOS is free software; you can redistribute it and/or modify it under
\r
30 the terms of the GNU General Public License (version 2) as published by the
\r
31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
\r
32 >>>NOTE<<< The modification to the GPL is included to allow you to
\r
33 distribute a combined work that includes FreeRTOS without being obliged to
\r
34 provide the source code for proprietary components outside of the FreeRTOS
\r
35 kernel. FreeRTOS is distributed in the hope that it will be useful, but
\r
36 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
\r
37 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
\r
38 more details. You should have received a copy of the GNU General Public
\r
39 License and the FreeRTOS license exception along with FreeRTOS; if not it
\r
40 can be viewed here: http://www.freertos.org/a00114.html and also obtained
\r
41 by writing to Richard Barry, contact details for whom are available on the
\r
46 ***************************************************************************
\r
48 * Having a problem? Start by reading the FAQ "My application does *
\r
49 * not run, what could be wrong?" *
\r
51 * http://www.FreeRTOS.org/FAQHelp.html *
\r
53 ***************************************************************************
\r
56 http://www.FreeRTOS.org - Documentation, training, latest versions, license
\r
57 and contact details.
\r
59 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
\r
60 including FreeRTOS+Trace - an indispensable productivity tool.
\r
62 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
\r
63 the code with commercial support, indemnification, and middleware, under
\r
64 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
\r
65 provide a safety engineered and independently SIL3 certified version under
\r
66 the SafeRTOS brand: http://www.SafeRTOS.com.
\r
69 /* Standard includes. */
\r
74 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
\r
75 all the API functions to use the MPU wrappers. That should only be done when
\r
76 task.h is included from an application file. */
\r
77 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
\r
79 /* FreeRTOS includes. */
\r
80 #include "FreeRTOS.h"
\r
83 #include "StackMacros.h"
\r
85 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
\r
88 * Defines the size, in words, of the stack allocated to the idle task.
\r
90 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
\r
93 * Task control block. A task control block (TCB) is allocated for each task,
\r
94 * and stores task state information, including a pointer to the task's context
\r
95 * (the task's run time environment, including register values)
\r
97 typedef struct tskTaskControlBlock
\r
99 volatile portSTACK_TYPE *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */
\r
101 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
102 xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
\r
105 xListItem xGenericListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
\r
106 xListItem xEventListItem; /*< Used to reference a task from an event list. */
\r
107 unsigned portBASE_TYPE uxPriority; /*< The priority of the task. 0 is the lowest priority. */
\r
108 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
\r
109 signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
\r
111 #if ( portSTACK_GROWTH > 0 )
\r
112 portSTACK_TYPE *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
\r
115 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
116 unsigned portBASE_TYPE uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
\r
119 #if ( configUSE_TRACE_FACILITY == 1 )
\r
120 unsigned portBASE_TYPE uxTCBNumber; /*< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */
\r
121 unsigned portBASE_TYPE uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
\r
124 #if ( configUSE_MUTEXES == 1 )
\r
125 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
\r
128 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
129 pdTASK_HOOK_CODE pxTaskTag;
\r
132 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
133 unsigned long ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
\r
140 * Some kernel aware debuggers require the data the debugger needs access to to
\r
141 * be global, rather than file scope.
\r
143 #ifdef portREMOVE_STATIC_QUALIFIER
\r
148 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
\r
150 /* Lists for ready and blocked tasks. --------------------*/
\r
151 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
\r
152 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
\r
153 PRIVILEGED_DATA static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
\r
154 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */
\r
155 PRIVILEGED_DATA static xList * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
\r
156 PRIVILEGED_DATA static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready queue when the scheduler is resumed. */
\r
158 #if ( INCLUDE_vTaskDelete == 1 )
\r
160 PRIVILEGED_DATA static xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
\r
161 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0U;
\r
165 #if ( INCLUDE_vTaskSuspend == 1 )
\r
167 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
\r
171 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
173 PRIVILEGED_DATA static xTaskHandle xIdleTaskHandle = NULL; /*< Holds the handle of the idle task. The idle task is created automatically when the scheduler is started. */
\r
177 /* File private variables. --------------------------------*/
\r
178 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0U;
\r
179 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0U;
\r
180 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
\r
181 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
\r
182 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
\r
183 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
\r
184 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0U;
\r
185 PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
\r
186 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
\r
187 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0U;
\r
188 PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime = ( portTickType ) portMAX_DELAY;
\r
190 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
192 PRIVILEGED_DATA static char pcStatsString[ 50 ] ;
\r
193 PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
\r
194 PRIVILEGED_DATA static unsigned long ulTotalRunTime; /*< Holds the total amount of execution time as defined by the run time counter clock. */
\r
195 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTimeDiv100 ) PRIVILEGED_FUNCTION;
\r
199 /* Debugging and trace facilities private variables and macros. ------------*/
\r
202 * The value used to fill the stack of a task when the task is created. This
\r
203 * is used purely for checking the high water mark for tasks.
\r
205 #define tskSTACK_FILL_BYTE ( 0xa5U )
\r
208 * Macros used by vListTask to indicate which state a task is in.
\r
210 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
\r
211 #define tskREADY_CHAR ( ( signed char ) 'R' )
\r
212 #define tskDELETED_CHAR ( ( signed char ) 'D' )
\r
213 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
\r
215 /*-----------------------------------------------------------*/
\r
217 #if configUSE_PORT_OPTIMISED_TASK_SELECTION == 0
\r
219 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
\r
220 performed in a generic way that is not optimised to any particular
\r
221 microcontroller architecture. */
\r
223 /* uxTopReadyPriority holds the priority of the highest priority ready
\r
225 #define taskRECORD_READY_PRIORITY( uxPriority ) \
\r
227 if( ( uxPriority ) > uxTopReadyPriority ) \
\r
229 uxTopReadyPriority = ( uxPriority ); \
\r
231 } /* taskRECORD_READY_PRIORITY */
\r
233 /*-----------------------------------------------------------*/
\r
235 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
\r
237 /* Find the highest priority queue that contains ready tasks. */ \
\r
238 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
\r
240 configASSERT( uxTopReadyPriority ); \
\r
241 --uxTopReadyPriority; \
\r
244 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
\r
245 the same priority get an equal share of the processor time. */ \
\r
246 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
\r
247 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
\r
249 /*-----------------------------------------------------------*/
\r
251 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
\r
252 they are only required when a port optimised method of task selection is
\r
254 #define taskRESET_READY_PRIORITY( uxPriority )
\r
255 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
\r
257 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
\r
259 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
\r
260 performed in a way that is tailored to the particular microcontroller
\r
261 architecture being used. */
\r
263 /* A port optimised version is provided. Call the port defined macros. */
\r
264 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
\r
266 /*-----------------------------------------------------------*/
\r
268 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
\r
270 unsigned portBASE_TYPE uxTopPriority; \
\r
272 /* Find the highest priority queue that contains ready tasks. */ \
\r
273 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
\r
274 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
\r
275 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
\r
276 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
\r
278 /*-----------------------------------------------------------*/
\r
280 /* A port optimised version is provided, call it only if the TCB being reset
\r
281 is being referenced from a ready list. If it is referenced from a delayed
\r
282 or suspended list then it won't be in a ready list. */
\r
283 #define taskRESET_READY_PRIORITY( uxPriority ) \
\r
285 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == 0 ) \
\r
287 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
\r
291 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
\r
294 * Place the task represented by pxTCB into the appropriate ready queue for
\r
295 * the task. It is inserted at the end of the list. One quirk of this is
\r
296 * that if the task being inserted is at the same priority as the currently
\r
297 * executing task, then it will only be rescheduled after the currently
\r
298 * executing task has been rescheduled.
\r
300 #define prvAddTaskToReadyQueue( pxTCB ) \
\r
301 traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
\r
302 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
\r
303 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
\r
304 /*-----------------------------------------------------------*/
\r
307 * Macro that looks at the list of tasks that are currently delayed to see if
\r
308 * any require waking.
\r
310 * Tasks are stored in the queue in the order of their wake time - meaning
\r
311 * once one tasks has been found whose timer has not expired we need not look
\r
312 * any further down the list.
\r
314 #define prvCheckDelayedTasks() \
\r
316 portTickType xItemValue; \
\r
318 /* Is the tick count greater than or equal to the wake time of the first \
\r
319 task referenced from the delayed tasks list? */ \
\r
320 if( xTickCount >= xNextTaskUnblockTime ) \
\r
324 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) \
\r
326 /* The delayed list is empty. Set xNextTaskUnblockTime to the \
\r
327 maximum possible value so it is extremely unlikely that the \
\r
328 if( xTickCount >= xNextTaskUnblockTime ) test will pass next \
\r
330 xNextTaskUnblockTime = portMAX_DELAY; \
\r
335 /* The delayed list is not empty, get the value of the item at \
\r
336 the head of the delayed list. This is the time at which the \
\r
337 task at the head of the delayed list should be removed from \
\r
338 the Blocked state. */ \
\r
339 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \
\r
340 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \
\r
342 if( xTickCount < xItemValue ) \
\r
344 /* It is not time to unblock this item yet, but the item \
\r
345 value is the time at which the task at the head of the \
\r
346 blocked list should be removed from the Blocked state - \
\r
347 so record the item value in xNextTaskUnblockTime. */ \
\r
348 xNextTaskUnblockTime = xItemValue; \
\r
352 /* It is time to remove the item from the Blocked state. */ \
\r
353 uxListRemove( &( pxTCB->xGenericListItem ) ); \
\r
355 /* Is the task waiting on an event also? */ \
\r
356 if( pxTCB->xEventListItem.pvContainer != NULL ) \
\r
358 uxListRemove( &( pxTCB->xEventListItem ) ); \
\r
360 prvAddTaskToReadyQueue( pxTCB ); \
\r
365 /*-----------------------------------------------------------*/
\r
368 * Several functions take an xTaskHandle parameter that can optionally be NULL,
\r
369 * where NULL is used to indicate that the handle of the currently executing
\r
370 * task should be used in place of the parameter. This macro simply checks to
\r
371 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
\r
373 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
\r
375 /* Callback function prototypes. --------------------------*/
\r
376 extern void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName );
\r
377 extern void vApplicationTickHook( void );
\r
379 /* File private functions. --------------------------------*/
\r
382 * Utility to ready a TCB for a given task. Mainly just copies the parameters
\r
383 * into the TCB structure.
\r
385 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth ) PRIVILEGED_FUNCTION;
\r
388 * Utility to ready all the lists used by the scheduler. This is called
\r
389 * automatically upon the creation of the first task.
\r
391 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
\r
394 * The idle task, which as all tasks is implemented as a never ending loop.
\r
395 * The idle task is automatically created and added to the ready lists upon
\r
396 * creation of the first user task.
\r
398 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
\r
399 * language extensions. The equivalent prototype for this function is:
\r
401 * void prvIdleTask( void *pvParameters );
\r
404 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
\r
407 * Utility to free all memory allocated by the scheduler to hold a TCB,
\r
408 * including the stack pointed to by the TCB.
\r
410 * This does not free memory allocated by the task itself (i.e. memory
\r
411 * allocated by calls to pvPortMalloc from within the tasks application code).
\r
413 #if ( INCLUDE_vTaskDelete == 1 )
\r
415 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
\r
420 * Used only by the idle task. This checks to see if anything has been placed
\r
421 * in the list of tasks waiting to be deleted. If so the task is cleaned up
\r
422 * and its TCB deleted.
\r
424 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
\r
427 * The currently executing task is entering the Blocked state. Add the task to
\r
428 * either the current or the overflow delayed task list.
\r
430 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
\r
433 * Allocates memory from the heap for a TCB and associated stack. Checks the
\r
434 * allocation was successful.
\r
436 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
\r
439 * Called from vTaskList. vListTasks details all the tasks currently under
\r
440 * control of the scheduler. The tasks may be in one of a number of lists.
\r
441 * prvListTaskWithinSingleList accepts a list and details the tasks from
\r
442 * within just that list.
\r
444 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
\r
445 * NORMAL APPLICATION CODE.
\r
447 #if ( configUSE_TRACE_FACILITY == 1 )
\r
449 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION;
\r
454 * When a task is created, the stack of the task is filled with a known value.
\r
455 * This function determines the 'high water mark' of the task stack by
\r
456 * determining how much of the stack remains at the original preset value.
\r
458 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
460 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
\r
465 * Return the amount of time, in ticks, that will pass before the kernel will
\r
466 * next move a task from the Blocked state to the Running state.
\r
468 * This conditional compilation should use inequality to 0, not equality to 1.
\r
469 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
\r
470 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
\r
471 * set to a value other than 1.
\r
473 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
475 static portTickType prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
\r
483 /*-----------------------------------------------------------
\r
484 * TASK CREATION API documented in task.h
\r
485 *----------------------------------------------------------*/
\r
487 signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pxTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions )
\r
489 signed portBASE_TYPE xReturn;
\r
492 configASSERT( pxTaskCode );
\r
493 configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );
\r
495 /* Allocate the memory required by the TCB and stack for the new task,
\r
496 checking that the allocation was successful. */
\r
497 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
\r
499 if( pxNewTCB != NULL )
\r
501 portSTACK_TYPE *pxTopOfStack;
\r
503 #if( portUSING_MPU_WRAPPERS == 1 )
\r
504 /* Should the task be created in privileged mode? */
\r
505 portBASE_TYPE xRunPrivileged;
\r
506 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
\r
508 xRunPrivileged = pdTRUE;
\r
512 xRunPrivileged = pdFALSE;
\r
514 uxPriority &= ~portPRIVILEGE_BIT;
\r
515 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
517 /* Calculate the top of stack address. This depends on whether the
\r
518 stack grows from high memory to low (as per the 80x86) or visa versa.
\r
519 portSTACK_GROWTH is used to make the result positive or negative as
\r
520 required by the port. */
\r
521 #if( portSTACK_GROWTH < 0 )
\r
523 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
\r
524 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) );
\r
526 /* Check the alignment of the calculated top of stack is correct. */
\r
527 configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
531 pxTopOfStack = pxNewTCB->pxStack;
\r
533 /* Check the alignment of the stack buffer is correct. */
\r
534 configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
536 /* If we want to use stack checking on architectures that use
\r
537 a positive stack growth direction then we also need to store the
\r
538 other extreme of the stack space. */
\r
539 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
\r
543 /* Setup the newly allocated TCB with the initial state of the task. */
\r
544 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
\r
546 /* Initialize the TCB stack to look as if the task was already running,
\r
547 but had been interrupted by the scheduler. The return address is set
\r
548 to the start of the task function. Once the stack has been initialised
\r
549 the top of stack variable is updated. */
\r
550 #if( portUSING_MPU_WRAPPERS == 1 )
\r
552 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
556 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
560 /* Check the alignment of the initialised stack. */
\r
561 portALIGNMENT_ASSERT_pxCurrentTCB( ( ( ( unsigned long ) pxNewTCB->pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
563 if( ( void * ) pxCreatedTask != NULL )
\r
565 /* Pass the TCB out - in an anonymous way. The calling function/
\r
566 task can use this as a handle to delete the task later if
\r
568 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
\r
571 /* We are going to manipulate the task queues to add this task to a
\r
572 ready list, so must make sure no interrupts occur. */
\r
573 taskENTER_CRITICAL();
\r
575 uxCurrentNumberOfTasks++;
\r
576 if( pxCurrentTCB == NULL )
\r
578 /* There are no other tasks, or all the other tasks are in
\r
579 the suspended state - make this the current task. */
\r
580 pxCurrentTCB = pxNewTCB;
\r
582 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
\r
584 /* This is the first task to be created so do the preliminary
\r
585 initialisation required. We will not recover if this call
\r
586 fails, but we will report the failure. */
\r
587 prvInitialiseTaskLists();
\r
592 /* If the scheduler is not already running, make this task the
\r
593 current task if it is the highest priority task to be created
\r
595 if( xSchedulerRunning == pdFALSE )
\r
597 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
599 pxCurrentTCB = pxNewTCB;
\r
604 /* Remember the top priority to make context switching faster. Use
\r
605 the priority in pxNewTCB as this has been capped to a valid value. */
\r
606 if( pxNewTCB->uxPriority > uxTopUsedPriority )
\r
608 uxTopUsedPriority = pxNewTCB->uxPriority;
\r
611 #if ( configUSE_TRACE_FACILITY == 1 )
\r
613 /* Add a counter into the TCB for tracing only. */
\r
614 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
618 traceTASK_CREATE( pxNewTCB );
\r
620 prvAddTaskToReadyQueue( pxNewTCB );
\r
623 portSETUP_TCB( pxNewTCB );
\r
625 taskEXIT_CRITICAL();
\r
629 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
630 traceTASK_CREATE_FAILED();
\r
633 if( xReturn == pdPASS )
\r
635 if( xSchedulerRunning != pdFALSE )
\r
637 /* If the created task is of a higher priority than the current task
\r
638 then it should run now. */
\r
639 if( pxCurrentTCB->uxPriority < uxPriority )
\r
641 portYIELD_WITHIN_API();
\r
648 /*-----------------------------------------------------------*/
\r
650 #if ( INCLUDE_vTaskDelete == 1 )
\r
652 void vTaskDelete( xTaskHandle pxTaskToDelete )
\r
656 taskENTER_CRITICAL();
\r
658 /* Ensure a yield is performed if the current task is being
\r
660 if( pxTaskToDelete == pxCurrentTCB )
\r
662 pxTaskToDelete = NULL;
\r
665 /* If null is passed in here then we are deleting ourselves. */
\r
666 pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
\r
668 /* Remove task from the ready list and place in the termination list.
\r
669 This will stop the task from be scheduled. The idle task will check
\r
670 the termination list and free up any memory allocated by the
\r
671 scheduler for the TCB and stack. */
\r
672 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
674 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
677 /* Is the task waiting on an event also? */
\r
678 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
680 uxListRemove( &( pxTCB->xEventListItem ) );
\r
683 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
685 /* Increment the ucTasksDeleted variable so the idle task knows
\r
686 there is a task that has been deleted and that it should therefore
\r
687 check the xTasksWaitingTermination list. */
\r
690 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
691 can detect that the task lists need re-generating. */
\r
694 traceTASK_DELETE( pxTCB );
\r
696 taskEXIT_CRITICAL();
\r
698 /* Force a reschedule if we have just deleted the current task. */
\r
699 if( xSchedulerRunning != pdFALSE )
\r
701 if( ( void * ) pxTaskToDelete == NULL )
\r
703 portYIELD_WITHIN_API();
\r
715 /*-----------------------------------------------------------
\r
716 * TASK CONTROL API documented in task.h
\r
717 *----------------------------------------------------------*/
\r
719 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
721 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
\r
723 portTickType xTimeToWake;
\r
724 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
\r
726 configASSERT( pxPreviousWakeTime );
\r
727 configASSERT( ( xTimeIncrement > 0U ) );
\r
731 /* Generate the tick time at which the task wants to wake. */
\r
732 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
734 if( xTickCount < *pxPreviousWakeTime )
\r
736 /* The tick count has overflowed since this function was
\r
737 lasted called. In this case the only time we should ever
\r
738 actually delay is if the wake time has also overflowed,
\r
739 and the wake time is greater than the tick time. When this
\r
740 is the case it is as if neither time had overflowed. */
\r
741 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
\r
743 xShouldDelay = pdTRUE;
\r
748 /* The tick time has not overflowed. In this case we will
\r
749 delay if either the wake time has overflowed, and/or the
\r
750 tick time is less than the wake time. */
\r
751 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
\r
753 xShouldDelay = pdTRUE;
\r
757 /* Update the wake time ready for the next call. */
\r
758 *pxPreviousWakeTime = xTimeToWake;
\r
760 if( xShouldDelay != pdFALSE )
\r
762 traceTASK_DELAY_UNTIL();
\r
764 /* We must remove ourselves from the ready list before adding
\r
765 ourselves to the blocked list as the same list item is used for
\r
767 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
769 /* The current task must be in a ready list, so there is
\r
770 no need to check, and the port reset macro can be called
\r
772 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
775 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
778 xAlreadyYielded = xTaskResumeAll();
\r
780 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
781 have put ourselves to sleep. */
\r
782 if( xAlreadyYielded == pdFALSE )
\r
784 portYIELD_WITHIN_API();
\r
789 /*-----------------------------------------------------------*/
\r
791 #if ( INCLUDE_vTaskDelay == 1 )
\r
793 void vTaskDelay( portTickType xTicksToDelay )
\r
795 portTickType xTimeToWake;
\r
796 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
798 /* A delay time of zero just forces a reschedule. */
\r
799 if( xTicksToDelay > ( portTickType ) 0U )
\r
805 /* A task that is removed from the event list while the
\r
806 scheduler is suspended will not get placed in the ready
\r
807 list or removed from the blocked list until the scheduler
\r
810 This task cannot be in an event list as it is the currently
\r
813 /* Calculate the time to wake - this may overflow but this is
\r
815 xTimeToWake = xTickCount + xTicksToDelay;
\r
817 /* We must remove ourselves from the ready list before adding
\r
818 ourselves to the blocked list as the same list item is used for
\r
820 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
822 /* The current task must be in a ready list, so there is
\r
823 no need to check, and the port reset macro can be called
\r
825 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
827 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
829 xAlreadyYielded = xTaskResumeAll();
\r
832 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
833 have put ourselves to sleep. */
\r
834 if( xAlreadyYielded == pdFALSE )
\r
836 portYIELD_WITHIN_API();
\r
841 /*-----------------------------------------------------------*/
\r
843 #if ( INCLUDE_eTaskStateGet == 1 )
\r
845 eTaskState eTaskStateGet( xTaskHandle pxTask )
\r
847 eTaskState eReturn;
\r
848 xList *pxStateList;
\r
851 pxTCB = ( tskTCB * ) pxTask;
\r
853 if( pxTCB == pxCurrentTCB )
\r
855 /* The task calling this function is querying its own state. */
\r
856 eReturn = eRunning;
\r
860 taskENTER_CRITICAL();
\r
862 pxStateList = ( xList * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
864 taskEXIT_CRITICAL();
\r
866 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
868 /* The task being queried is referenced from one of the Blocked
\r
870 eReturn = eBlocked;
\r
873 #if ( INCLUDE_vTaskSuspend == 1 )
\r
874 else if( pxStateList == &xSuspendedTaskList )
\r
876 /* The task being queried is referenced from the suspended
\r
878 eReturn = eSuspended;
\r
882 #if ( INCLUDE_vTaskDelete == 1 )
\r
883 else if( pxStateList == &xTasksWaitingTermination )
\r
885 /* The task being queried is referenced from the deleted
\r
887 eReturn = eDeleted;
\r
893 /* If the task is not in any other state, it must be in the
\r
894 Ready (including pending ready) state. */
\r
903 /*-----------------------------------------------------------*/
\r
905 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
907 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
\r
910 unsigned portBASE_TYPE uxReturn;
\r
912 taskENTER_CRITICAL();
\r
914 /* If null is passed in here then we are changing the
\r
915 priority of the calling function. */
\r
916 pxTCB = prvGetTCBFromHandle( pxTask );
\r
917 uxReturn = pxTCB->uxPriority;
\r
919 taskEXIT_CRITICAL();
\r
925 /*-----------------------------------------------------------*/
\r
927 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
929 void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
\r
932 unsigned portBASE_TYPE uxCurrentPriority, uxPriorityUsedOnEntry;
\r
933 portBASE_TYPE xYieldRequired = pdFALSE;
\r
935 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
937 /* Ensure the new priority is valid. */
\r
938 if( uxNewPriority >= configMAX_PRIORITIES )
\r
940 uxNewPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
943 taskENTER_CRITICAL();
\r
945 if( pxTask == pxCurrentTCB )
\r
950 /* If null is passed in here then we are changing the
\r
951 priority of the calling function. */
\r
952 pxTCB = prvGetTCBFromHandle( pxTask );
\r
954 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
956 #if ( configUSE_MUTEXES == 1 )
\r
958 uxCurrentPriority = pxTCB->uxBasePriority;
\r
962 uxCurrentPriority = pxTCB->uxPriority;
\r
966 if( uxCurrentPriority != uxNewPriority )
\r
968 /* The priority change may have readied a task of higher
\r
969 priority than the calling task. */
\r
970 if( uxNewPriority > uxCurrentPriority )
\r
972 if( pxTask != NULL )
\r
974 /* The priority of another task is being raised. If we
\r
975 were raising the priority of the currently running task
\r
976 there would be no need to switch as it must have already
\r
977 been the highest priority task. */
\r
978 xYieldRequired = pdTRUE;
\r
981 else if( pxTask == NULL )
\r
983 /* Setting our own priority down means there may now be another
\r
984 task of higher priority that is ready to execute. */
\r
985 xYieldRequired = pdTRUE;
\r
988 /* Remember the ready list the task might be referenced from
\r
989 before its uxPriority member is changed so the
\r
990 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
991 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
993 #if ( configUSE_MUTEXES == 1 )
\r
995 /* Only change the priority being used if the task is not
\r
996 currently using an inherited priority. */
\r
997 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
999 pxTCB->uxPriority = uxNewPriority;
\r
1002 /* The base priority gets set whatever. */
\r
1003 pxTCB->uxBasePriority = uxNewPriority;
\r
1007 pxTCB->uxPriority = uxNewPriority;
\r
1011 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
1013 /* If the task is in the blocked or suspended list we need do
\r
1014 nothing more than change it's priority variable. However, if
\r
1015 the task is in a ready list it needs to be removed and placed
\r
1016 in the queue appropriate to its new priority. */
\r
1017 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
1019 /* The task is currently in its ready list - remove before adding
\r
1020 it to it's new ready list. As we are in a critical section we
\r
1021 can do this even if the scheduler is suspended. */
\r
1022 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
1024 taskRESET_READY_PRIORITY( uxPriorityUsedOnEntry );
\r
1026 prvAddTaskToReadyQueue( pxTCB );
\r
1029 if( xYieldRequired == pdTRUE )
\r
1031 portYIELD_WITHIN_API();
\r
1035 taskEXIT_CRITICAL();
\r
1037 /* Remove compiler warning about unused parameter when the port
\r
1038 optimised task selection is not being used. */
\r
1039 ( void ) uxPriorityUsedOnEntry;
\r
1043 /*-----------------------------------------------------------*/
\r
1045 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1047 void vTaskSuspend( xTaskHandle pxTaskToSuspend )
\r
1051 taskENTER_CRITICAL();
\r
1053 /* Ensure a yield is performed if the current task is being
\r
1055 if( pxTaskToSuspend == pxCurrentTCB )
\r
1057 pxTaskToSuspend = NULL;
\r
1060 /* If null is passed in here then we are suspending ourselves. */
\r
1061 pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
\r
1063 traceTASK_SUSPEND( pxTCB );
\r
1065 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
1066 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
1068 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1071 /* Is the task waiting on an event also? */
\r
1072 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
1074 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1077 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1079 taskEXIT_CRITICAL();
\r
1081 if( ( void * ) pxTaskToSuspend == NULL )
\r
1083 if( xSchedulerRunning != pdFALSE )
\r
1085 /* We have just suspended the current task. */
\r
1086 portYIELD_WITHIN_API();
\r
1090 /* The scheduler is not running, but the task that was pointed
\r
1091 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1092 must be adjusted to point to a different task. */
\r
1093 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1095 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1096 NULL so when the next task is created pxCurrentTCB will
\r
1097 be set to point to it no matter what its relative priority
\r
1099 pxCurrentTCB = NULL;
\r
1103 vTaskSwitchContext();
\r
1110 /*-----------------------------------------------------------*/
\r
1112 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1114 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
1116 portBASE_TYPE xReturn = pdFALSE;
\r
1117 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
1119 /* It does not make sense to check if the calling task is suspended. */
\r
1120 configASSERT( xTask );
\r
1122 /* Is the task we are attempting to resume actually in the
\r
1123 suspended list? */
\r
1124 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1126 /* Has the task already been resumed from within an ISR? */
\r
1127 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
1129 /* Is it in the suspended list because it is in the
\r
1130 Suspended state? It is possible to be in the suspended
\r
1131 list because it is blocked on a task with no timeout
\r
1133 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
1144 /*-----------------------------------------------------------*/
\r
1146 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1148 void vTaskResume( xTaskHandle pxTaskToResume )
\r
1152 /* It does not make sense to resume the calling task. */
\r
1153 configASSERT( pxTaskToResume );
\r
1155 /* Remove the task from whichever list it is currently in, and place
\r
1156 it in the ready list. */
\r
1157 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1159 /* The parameter cannot be NULL as it is impossible to resume the
\r
1160 currently executing task. */
\r
1161 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1163 taskENTER_CRITICAL();
\r
1165 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1167 traceTASK_RESUME( pxTCB );
\r
1169 /* As we are in a critical section we can access the ready
\r
1170 lists even if the scheduler is suspended. */
\r
1171 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1172 prvAddTaskToReadyQueue( pxTCB );
\r
1174 /* We may have just resumed a higher priority task. */
\r
1175 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1177 /* This yield may not cause the task just resumed to run, but
\r
1178 will leave the lists in the correct state for the next yield. */
\r
1179 portYIELD_WITHIN_API();
\r
1183 taskEXIT_CRITICAL();
\r
1189 /*-----------------------------------------------------------*/
\r
1191 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1193 portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
\r
1195 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1197 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1199 configASSERT( pxTaskToResume );
\r
1201 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1203 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1205 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1207 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1209 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1211 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
1212 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1213 prvAddTaskToReadyQueue( pxTCB );
\r
1217 /* We cannot access the delayed or ready lists, so will hold this
\r
1218 task pending until the scheduler is resumed, at which point a
\r
1219 yield will be performed if necessary. */
\r
1220 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1224 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1226 return xYieldRequired;
\r
1234 /*-----------------------------------------------------------
\r
1235 * PUBLIC SCHEDULER CONTROL documented in task.h
\r
1236 *----------------------------------------------------------*/
\r
1239 void vTaskStartScheduler( void )
\r
1241 portBASE_TYPE xReturn;
\r
1243 /* Add the idle task at the lowest priority. */
\r
1244 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1246 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1247 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1248 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle );
\r
1252 /* Create the idle task without storing its handle. */
\r
1253 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL );
\r
1257 #if ( configUSE_TIMERS == 1 )
\r
1259 if( xReturn == pdPASS )
\r
1261 xReturn = xTimerCreateTimerTask();
\r
1266 if( xReturn == pdPASS )
\r
1268 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1269 before or during the call to xPortStartScheduler(). The stacks of
\r
1270 the created tasks contain a status word with interrupts switched on
\r
1271 so interrupts will automatically get re-enabled when the first task
\r
1274 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1275 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1276 portDISABLE_INTERRUPTS();
\r
1278 xSchedulerRunning = pdTRUE;
\r
1279 xTickCount = ( portTickType ) 0U;
\r
1281 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1282 macro must be defined to configure the timer/counter used to generate
\r
1283 the run time counter time base. */
\r
1284 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1286 /* Setting up the timer tick is hardware specific and thus in the
\r
1287 portable interface. */
\r
1288 if( xPortStartScheduler() != pdFALSE )
\r
1290 /* Should not reach here as if the scheduler is running the
\r
1291 function will not return. */
\r
1295 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1299 /* This line will only be reached if the kernel could not be started. */
\r
1300 configASSERT( xReturn );
\r
1302 /*-----------------------------------------------------------*/
\r
1304 void vTaskEndScheduler( void )
\r
1306 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1307 routine so the original ISRs can be restored if necessary. The port
\r
1308 layer must ensure interrupts enable bit is left in the correct state. */
\r
1309 portDISABLE_INTERRUPTS();
\r
1310 xSchedulerRunning = pdFALSE;
\r
1311 vPortEndScheduler();
\r
1313 /*----------------------------------------------------------*/
\r
1315 void vTaskSuspendAll( void )
\r
1317 /* A critical section is not required as the variable is of type
\r
1319 ++uxSchedulerSuspended;
\r
1321 /*----------------------------------------------------------*/
\r
1323 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1325 portTickType prvGetExpectedIdleTime( void )
\r
1327 portTickType xReturn;
\r
1329 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1333 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1335 /* There are other idle priority tasks in the ready state. If
\r
1336 time slicing is used then the very next tick interrupt must be
\r
1342 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1348 #endif /* configUSE_TICKLESS_IDLE != 0 */
\r
1349 /*----------------------------------------------------------*/
\r
1351 signed portBASE_TYPE xTaskResumeAll( void )
\r
1353 register tskTCB *pxTCB;
\r
1354 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1356 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1357 previous call to vTaskSuspendAll(). */
\r
1358 configASSERT( uxSchedulerSuspended );
\r
1360 /* It is possible that an ISR caused a task to be removed from an event
\r
1361 list while the scheduler was suspended. If this was the case then the
\r
1362 removed task will have been added to the xPendingReadyList. Once the
\r
1363 scheduler has been resumed it is safe to move all the pending ready
\r
1364 tasks from this list into their appropriate ready list. */
\r
1365 taskENTER_CRITICAL();
\r
1367 --uxSchedulerSuspended;
\r
1369 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1371 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0U )
\r
1373 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1375 /* Move any readied tasks from the pending list into the
\r
1376 appropriate ready list. */
\r
1377 while( listLIST_IS_EMPTY( ( xList * ) &xPendingReadyList ) == pdFALSE )
\r
1379 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) );
\r
1380 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1381 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1382 prvAddTaskToReadyQueue( pxTCB );
\r
1384 /* If we have moved a task that has a priority higher than
\r
1385 the current task then we should yield. */
\r
1386 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1388 xYieldRequired = pdTRUE;
\r
1392 /* If any ticks occurred while the scheduler was suspended then
\r
1393 they should be processed now. This ensures the tick count does not
\r
1394 slip, and that any delayed tasks are resumed at the correct time. */
\r
1395 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1397 while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1399 vTaskIncrementTick();
\r
1403 /* As we have processed some ticks it is appropriate to yield
\r
1404 to ensure the highest priority task that is ready to run is
\r
1405 the task actually running. */
\r
1406 #if configUSE_PREEMPTION == 1
\r
1408 xYieldRequired = pdTRUE;
\r
1413 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
\r
1415 xAlreadyYielded = pdTRUE;
\r
1416 xMissedYield = pdFALSE;
\r
1417 portYIELD_WITHIN_API();
\r
1422 taskEXIT_CRITICAL();
\r
1424 return xAlreadyYielded;
\r
1432 /*-----------------------------------------------------------
\r
1433 * PUBLIC TASK UTILITIES documented in task.h
\r
1434 *----------------------------------------------------------*/
\r
1438 portTickType xTaskGetTickCount( void )
\r
1440 portTickType xTicks;
\r
1442 /* Critical section required if running on a 16 bit processor. */
\r
1443 taskENTER_CRITICAL();
\r
1445 xTicks = xTickCount;
\r
1447 taskEXIT_CRITICAL();
\r
1451 /*-----------------------------------------------------------*/
\r
1453 portTickType xTaskGetTickCountFromISR( void )
\r
1455 portTickType xReturn;
\r
1456 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1458 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1459 xReturn = xTickCount;
\r
1460 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1464 /*-----------------------------------------------------------*/
\r
1466 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1468 /* A critical section is not required because the variables are of type
\r
1470 return uxCurrentNumberOfTasks;
\r
1472 /*-----------------------------------------------------------*/
\r
1474 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1476 signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery )
\r
1480 /* If null is passed in here then the name of the calling task is being queried. */
\r
1481 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1482 configASSERT( pxTCB );
\r
1483 return &( pxTCB->pcTaskName[ 0 ] );
\r
1487 /*-----------------------------------------------------------*/
\r
1489 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1491 void vTaskList( signed char *pcWriteBuffer )
\r
1493 unsigned portBASE_TYPE uxQueue;
\r
1495 /* This is a VERY costly function that should be used for debug only.
\r
1496 It leaves interrupts disabled for a LONG time. */
\r
1498 vTaskSuspendAll();
\r
1500 /* Run through all the lists that could potentially contain a TCB and
\r
1501 report the task name, state and stack high water mark. */
\r
1503 *pcWriteBuffer = ( signed char ) 0x00;
\r
1504 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1506 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1512 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1514 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1516 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1518 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1520 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1523 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1525 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1528 #if( INCLUDE_vTaskDelete == 1 )
\r
1530 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1532 prvListTaskWithinSingleList( pcWriteBuffer, &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1537 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1539 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1541 prvListTaskWithinSingleList( pcWriteBuffer, &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1550 /*----------------------------------------------------------*/
\r
1552 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1554 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
1556 unsigned portBASE_TYPE uxQueue;
\r
1557 unsigned long ulTotalRunTimeDiv100;
\r
1559 /* This is a VERY costly function that should be used for debug only.
\r
1560 It leaves interrupts disabled for a LONG time. */
\r
1562 vTaskSuspendAll();
\r
1564 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1565 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1567 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1570 /* Divide ulTotalRunTime by 100 to make the percentage caluclations
\r
1571 simpler in the prvGenerateRunTimeStatsForTasksInList() function. */
\r
1572 ulTotalRunTimeDiv100 = ulTotalRunTime / 100UL;
\r
1574 /* Run through all the lists that could potentially contain a TCB,
\r
1575 generating a table of run timer percentages in the provided
\r
1578 *pcWriteBuffer = ( signed char ) 0x00;
\r
1579 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1581 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1587 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1589 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTimeDiv100 );
\r
1591 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1593 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1595 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTimeDiv100 );
\r
1598 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1600 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTimeDiv100 );
\r
1603 #if ( INCLUDE_vTaskDelete == 1 )
\r
1605 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1607 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xTasksWaitingTermination, ulTotalRunTimeDiv100 );
\r
1612 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1614 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1616 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xSuspendedTaskList, ulTotalRunTimeDiv100 );
\r
1625 /*----------------------------------------------------------*/
\r
1627 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1629 xTaskHandle xTaskGetIdleTaskHandle( void )
\r
1631 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1632 started, then xIdleTaskHandle will be NULL. */
\r
1633 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1634 return xIdleTaskHandle;
\r
1638 /*----------------------------------------------------------*/
\r
1640 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
1641 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
1642 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
1644 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1646 void vTaskStepTick( portTickType xTicksToJump )
\r
1648 configASSERT( xTicksToJump <= xNextTaskUnblockTime );
\r
1649 xTickCount += xTicksToJump;
\r
1654 /*-----------------------------------------------------------
\r
1655 * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
\r
1656 * documented in task.h
\r
1657 *----------------------------------------------------------*/
\r
1659 void vTaskIncrementTick( void )
\r
1663 /* Called by the portable layer each time a tick interrupt occurs.
\r
1664 Increments the tick then checks to see if the new tick value will cause any
\r
1665 tasks to be unblocked. */
\r
1666 traceTASK_INCREMENT_TICK( xTickCount );
\r
1667 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1670 if( xTickCount == ( portTickType ) 0U )
\r
1674 /* Tick count has overflowed so we need to swap the delay lists.
\r
1675 If there are any items in pxDelayedTaskList here then there is
\r
1677 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) );
\r
1679 pxTemp = pxDelayedTaskList;
\r
1680 pxDelayedTaskList = pxOverflowDelayedTaskList;
\r
1681 pxOverflowDelayedTaskList = pxTemp;
\r
1682 xNumOfOverflows++;
\r
1684 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1686 /* The new current delayed list is empty. Set
\r
1687 xNextTaskUnblockTime to the maximum possible value so it is
\r
1688 extremely unlikely that the
\r
1689 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
1690 there is an item in the delayed list. */
\r
1691 xNextTaskUnblockTime = portMAX_DELAY;
\r
1695 /* The new current delayed list is not empty, get the value of
\r
1696 the item at the head of the delayed list. This is the time at
\r
1697 which the task at the head of the delayed list should be removed
\r
1698 from the Blocked state. */
\r
1699 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1700 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1704 /* See if this tick has made a timeout expire. */
\r
1705 prvCheckDelayedTasks();
\r
1711 /* The tick hook gets called at regular intervals, even if the
\r
1712 scheduler is locked. */
\r
1713 #if ( configUSE_TICK_HOOK == 1 )
\r
1715 vApplicationTickHook();
\r
1720 #if ( configUSE_TICK_HOOK == 1 )
\r
1722 /* Guard against the tick hook being called when the missed tick
\r
1723 count is being unwound (when the scheduler is being unlocked. */
\r
1724 if( uxMissedTicks == ( unsigned portBASE_TYPE ) 0U )
\r
1726 vApplicationTickHook();
\r
1731 /*-----------------------------------------------------------*/
\r
1733 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1735 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction )
\r
1739 /* If xTask is NULL then we are setting our own task hook. */
\r
1740 if( xTask == NULL )
\r
1742 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1746 xTCB = ( tskTCB * ) xTask;
\r
1749 /* Save the hook function in the TCB. A critical section is required as
\r
1750 the value can be accessed from an interrupt. */
\r
1751 taskENTER_CRITICAL();
\r
1752 xTCB->pxTaskTag = pxHookFunction;
\r
1753 taskEXIT_CRITICAL();
\r
1757 /*-----------------------------------------------------------*/
\r
1759 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1761 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1764 pdTASK_HOOK_CODE xReturn;
\r
1766 /* If xTask is NULL then we are setting our own task hook. */
\r
1767 if( xTask == NULL )
\r
1769 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1773 xTCB = ( tskTCB * ) xTask;
\r
1776 /* Save the hook function in the TCB. A critical section is required as
\r
1777 the value can be accessed from an interrupt. */
\r
1778 taskENTER_CRITICAL();
\r
1779 xReturn = xTCB->pxTaskTag;
\r
1780 taskEXIT_CRITICAL();
\r
1786 /*-----------------------------------------------------------*/
\r
1788 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1790 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1793 portBASE_TYPE xReturn;
\r
1795 /* If xTask is NULL then we are calling our own task hook. */
\r
1796 if( xTask == NULL )
\r
1798 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1802 xTCB = ( tskTCB * ) xTask;
\r
1805 if( xTCB->pxTaskTag != NULL )
\r
1807 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1818 /*-----------------------------------------------------------*/
\r
1820 void vTaskSwitchContext( void )
\r
1822 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1824 /* The scheduler is currently suspended - do not allow a context
\r
1826 xMissedYield = pdTRUE;
\r
1830 traceTASK_SWITCHED_OUT();
\r
1832 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1834 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1835 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1837 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1840 /* Add the amount of time the task has been running to the accumulated
\r
1841 time so far. The time the task started running was stored in
\r
1842 ulTaskSwitchedInTime. Note that there is no overflow protection here
\r
1843 so count values are only valid until the timer overflows. Generally
\r
1844 this will be about 1 hour assuming a 1uS timer increment. */
\r
1845 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
1846 ulTaskSwitchedInTime = ulTotalRunTime;
\r
1850 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1851 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1853 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
1855 traceTASK_SWITCHED_IN();
\r
1858 /*-----------------------------------------------------------*/
\r
1860 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1862 portTickType xTimeToWake;
\r
1864 configASSERT( pxEventList );
\r
1866 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1867 SCHEDULER SUSPENDED. */
\r
1869 /* Place the event list item of the TCB in the appropriate event list.
\r
1870 This is placed in the list in priority order so the highest priority task
\r
1871 is the first to be woken by the event. */
\r
1872 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1874 /* We must remove ourselves from the ready list before adding ourselves
\r
1875 to the blocked list as the same list item is used for both lists. We have
\r
1876 exclusive access to the ready lists as the scheduler is locked. */
\r
1877 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
1879 /* The current task must be in a ready list, so there is no need to
\r
1880 check, and the port reset macro can be called directly. */
\r
1881 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1884 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1886 if( xTicksToWait == portMAX_DELAY )
\r
1888 /* Add ourselves to the suspended task list instead of a delayed task
\r
1889 list to ensure we are not woken by a timing event. We will block
\r
1891 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1895 /* Calculate the time at which the task should be woken if the event does
\r
1896 not occur. This may overflow but this doesn't matter. */
\r
1897 xTimeToWake = xTickCount + xTicksToWait;
\r
1898 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1903 /* Calculate the time at which the task should be woken if the event does
\r
1904 not occur. This may overflow but this doesn't matter. */
\r
1905 xTimeToWake = xTickCount + xTicksToWait;
\r
1906 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1910 /*-----------------------------------------------------------*/
\r
1912 #if configUSE_TIMERS == 1
\r
1914 void vTaskPlaceOnEventListRestricted( const xList * const pxEventList, portTickType xTicksToWait )
\r
1916 portTickType xTimeToWake;
\r
1918 configASSERT( pxEventList );
\r
1920 /* This function should not be called by application code hence the
\r
1921 'Restricted' in its name. It is not part of the public API. It is
\r
1922 designed for use by kernel code, and has special calling requirements -
\r
1923 it should be called from a critical section. */
\r
1926 /* Place the event list item of the TCB in the appropriate event list.
\r
1927 In this case it is assume that this is the only task that is going to
\r
1928 be waiting on this event list, so the faster vListInsertEnd() function
\r
1929 can be used in place of vListInsert. */
\r
1930 vListInsertEnd( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1932 /* We must remove this task from the ready list before adding it to the
\r
1933 blocked list as the same list item is used for both lists. This
\r
1934 function is called form a critical section. */
\r
1935 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
1937 /* The current task must be in a ready list, so there is no need to
\r
1938 check, and the port reset macro can be called directly. */
\r
1939 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1942 /* Calculate the time at which the task should be woken if the event does
\r
1943 not occur. This may overflow but this doesn't matter. */
\r
1944 xTimeToWake = xTickCount + xTicksToWait;
\r
1946 traceTASK_DELAY_UNTIL();
\r
1947 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1950 #endif /* configUSE_TIMERS */
\r
1951 /*-----------------------------------------------------------*/
\r
1953 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1955 tskTCB *pxUnblockedTCB;
\r
1956 portBASE_TYPE xReturn;
\r
1958 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1959 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1961 /* The event list is sorted in priority order, so we can remove the
\r
1962 first in the list, remove the TCB from the delayed list, and add
\r
1963 it to the ready list.
\r
1965 If an event is for a queue that is locked then this function will never
\r
1966 get called - the lock count on the queue will get modified instead. This
\r
1967 means we can always expect exclusive access to the event list here.
\r
1969 This function assumes that a check has already been made to ensure that
\r
1970 pxEventList is not empty. */
\r
1971 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1972 configASSERT( pxUnblockedTCB );
\r
1973 uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1975 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1977 uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1978 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1982 /* We cannot access the delayed or ready lists, so will hold this
\r
1983 task pending until the scheduler is resumed. */
\r
1984 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1987 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1989 /* Return true if the task removed from the event list has
\r
1990 a higher priority than the calling task. This allows
\r
1991 the calling task to know if it should force a context
\r
1997 xReturn = pdFALSE;
\r
2002 /*-----------------------------------------------------------*/
\r
2004 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
2006 configASSERT( pxTimeOut );
\r
2007 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
2008 pxTimeOut->xTimeOnEntering = xTickCount;
\r
2010 /*-----------------------------------------------------------*/
\r
2012 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
2014 portBASE_TYPE xReturn;
\r
2016 configASSERT( pxTimeOut );
\r
2017 configASSERT( pxTicksToWait );
\r
2019 taskENTER_CRITICAL();
\r
2021 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2022 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
2023 the maximum block time then the task should block indefinitely, and
\r
2024 therefore never time out. */
\r
2025 if( *pxTicksToWait == portMAX_DELAY )
\r
2027 xReturn = pdFALSE;
\r
2029 else /* We are not blocking indefinitely, perform the checks below. */
\r
2032 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
\r
2034 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
2035 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
2036 It must have wrapped all the way around and gone past us again. This
\r
2037 passed since vTaskSetTimeout() was called. */
\r
2040 else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )
\r
2042 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2043 *pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
\r
2044 vTaskSetTimeOutState( pxTimeOut );
\r
2045 xReturn = pdFALSE;
\r
2052 taskEXIT_CRITICAL();
\r
2056 /*-----------------------------------------------------------*/
\r
2058 void vTaskMissedYield( void )
\r
2060 xMissedYield = pdTRUE;
\r
2062 /*-----------------------------------------------------------*/
\r
2064 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2065 unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask )
\r
2067 unsigned portBASE_TYPE uxReturn;
\r
2070 if( xTask != NULL )
\r
2072 pxTCB = ( tskTCB * ) xTask;
\r
2073 uxReturn = pxTCB->uxTaskNumber;
\r
2083 /*-----------------------------------------------------------*/
\r
2085 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2086 void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle )
\r
2090 if( xTask != NULL )
\r
2092 pxTCB = ( tskTCB * ) xTask;
\r
2093 pxTCB->uxTaskNumber = uxHandle;
\r
2100 * -----------------------------------------------------------
\r
2102 * ----------------------------------------------------------
\r
2104 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2105 * language extensions. The equivalent prototype for this function is:
\r
2107 * void prvIdleTask( void *pvParameters );
\r
2110 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2112 /* Stop warnings. */
\r
2113 ( void ) pvParameters;
\r
2117 /* See if any tasks have been deleted. */
\r
2118 prvCheckTasksWaitingTermination();
\r
2120 #if ( configUSE_PREEMPTION == 0 )
\r
2122 /* If we are not using preemption we keep forcing a task switch to
\r
2123 see if any other task has become available. If we are using
\r
2124 preemption we don't need to do this as any task becoming available
\r
2125 will automatically get the processor anyway. */
\r
2130 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2132 /* When using preemption tasks of equal priority will be
\r
2133 timesliced. If a task that is sharing the idle priority is ready
\r
2134 to run then the idle task should yield before the end of the
\r
2137 A critical region is not required here as we are just reading from
\r
2138 the list, and an occasional incorrect value will not matter. If
\r
2139 the ready list at the idle priority contains more than one task
\r
2140 then a task other than the idle task is ready to execute. */
\r
2141 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
2148 #if ( configUSE_IDLE_HOOK == 1 )
\r
2150 extern void vApplicationIdleHook( void );
\r
2152 /* Call the user defined function from within the idle task. This
\r
2153 allows the application designer to add background functionality
\r
2154 without the overhead of a separate task.
\r
2155 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2156 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2157 vApplicationIdleHook();
\r
2161 /* This conditional compilation should use inequality to 0, not equality
\r
2162 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2163 user defined low power mode implementations require
\r
2164 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2165 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2167 portTickType xExpectedIdleTime;
\r
2168 /* If the expected idle time is 1 then the idle time would end at
\r
2169 the end of the current time slice. The idle time must be at least
\r
2170 2 to ensure any pended ticks between this point and the tick being
\r
2171 stopped can be legitimately stepped over when the tick suppression
\r
2172 routines returns. */
\r
2173 const portTickType xMinimumExpectedIdleTime = ( portTickType ) 2;
\r
2175 /* It is not desirable to suspend then resume the scheduler on
\r
2176 each iteration of the idle task. Therefore, a preliminary
\r
2177 test of the expected idle time is performed without the
\r
2178 scheduler suspended. The result here is not necessarily
\r
2180 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2182 if( xExpectedIdleTime >= xMinimumExpectedIdleTime )
\r
2184 vTaskSuspendAll();
\r
2186 /* Now the scheduler is suspended, the expected idle
\r
2187 time can be sampled again, and this time its value can
\r
2189 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2190 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2192 if( xExpectedIdleTime >= xMinimumExpectedIdleTime )
\r
2194 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2202 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
2210 /*-----------------------------------------------------------
\r
2211 * File private functions documented at the top of the file.
\r
2212 *----------------------------------------------------------*/
\r
2216 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
2218 /* Store the function name in the TCB. */
\r
2219 #if configMAX_TASK_NAME_LEN > 1
\r
2221 /* Don't bring strncpy into the build unnecessarily. */
\r
2222 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );
\r
2225 pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = ( signed char ) '\0';
\r
2227 /* This is used as an array index so must ensure it's not too large. First
\r
2228 remove the privilege bit if one is present. */
\r
2229 if( uxPriority >= configMAX_PRIORITIES )
\r
2231 uxPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
2234 pxTCB->uxPriority = uxPriority;
\r
2235 #if ( configUSE_MUTEXES == 1 )
\r
2237 pxTCB->uxBasePriority = uxPriority;
\r
2241 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2242 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2244 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
2245 back to the containing TCB from a generic item in a list. */
\r
2246 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2248 /* Event lists are always in priority order. */
\r
2249 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
2250 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2252 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2254 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U;
\r
2258 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2260 pxTCB->pxTaskTag = NULL;
\r
2264 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2266 pxTCB->ulRunTimeCounter = 0UL;
\r
2270 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2272 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2276 ( void ) xRegions;
\r
2277 ( void ) usStackDepth;
\r
2281 /*-----------------------------------------------------------*/
\r
2283 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2285 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
2289 if( xTaskToModify == pxCurrentTCB )
\r
2291 xTaskToModify = NULL;
\r
2294 /* If null is passed in here then we are deleting ourselves. */
\r
2295 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2297 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2299 /*-----------------------------------------------------------*/
\r
2302 static void prvInitialiseTaskLists( void )
\r
2304 unsigned portBASE_TYPE uxPriority;
\r
2306 for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
2308 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
2311 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
2312 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
2313 vListInitialise( ( xList * ) &xPendingReadyList );
\r
2315 #if ( INCLUDE_vTaskDelete == 1 )
\r
2317 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
2321 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2323 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
2327 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2329 pxDelayedTaskList = &xDelayedTaskList1;
\r
2330 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2332 /*-----------------------------------------------------------*/
\r
2334 static void prvCheckTasksWaitingTermination( void )
\r
2336 #if ( INCLUDE_vTaskDelete == 1 )
\r
2338 portBASE_TYPE xListIsEmpty;
\r
2340 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2341 too often in the idle task. */
\r
2342 while( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
\r
2344 vTaskSuspendAll();
\r
2345 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2348 if( xListIsEmpty == pdFALSE )
\r
2352 taskENTER_CRITICAL();
\r
2354 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
2355 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2356 --uxCurrentNumberOfTasks;
\r
2359 taskEXIT_CRITICAL();
\r
2361 prvDeleteTCB( pxTCB );
\r
2367 /*-----------------------------------------------------------*/
\r
2369 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
\r
2371 /* The list item will be inserted in wake time order. */
\r
2372 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2374 if( xTimeToWake < xTickCount )
\r
2376 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2377 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2381 /* The wake time has not overflowed, so we can use the current block list. */
\r
2382 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2384 /* If the task entering the blocked state was placed at the head of the
\r
2385 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
2387 if( xTimeToWake < xNextTaskUnblockTime )
\r
2389 xNextTaskUnblockTime = xTimeToWake;
\r
2393 /*-----------------------------------------------------------*/
\r
2395 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2399 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2400 the implementation of the port malloc function. */
\r
2401 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2403 if( pxNewTCB != NULL )
\r
2405 /* Allocate space for the stack used by the task being created.
\r
2406 The base of the stack memory stored in the TCB so the task can
\r
2407 be deleted later if required. */
\r
2408 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
\r
2410 if( pxNewTCB->pxStack == NULL )
\r
2412 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2413 vPortFree( pxNewTCB );
\r
2418 /* Just to help debugging. */
\r
2419 memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2425 /*-----------------------------------------------------------*/
\r
2427 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2429 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus )
\r
2431 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2432 unsigned short usStackRemaining;
\r
2433 PRIVILEGED_DATA static char pcStatusString[ configMAX_TASK_NAME_LEN + 30 ];
\r
2435 /* Write the details of all the TCB's in pxList into the buffer. */
\r
2436 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2439 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2440 #if ( portSTACK_GROWTH > 0 )
\r
2442 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2446 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2450 sprintf( pcStatusString, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxNextTCB->pcTaskName, cStatus, ( unsigned int ) pxNextTCB->uxPriority, ( unsigned int ) usStackRemaining, ( unsigned int ) pxNextTCB->uxTCBNumber );
\r
2451 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );
\r
2453 } while( pxNextTCB != pxFirstTCB );
\r
2457 /*-----------------------------------------------------------*/
\r
2459 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2461 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTimeDiv100 )
\r
2463 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2464 unsigned long ulStatsAsPercentage;
\r
2466 /* Write the run time stats of all the TCB's in pxList into the buffer. */
\r
2467 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2470 /* Get next TCB in from the list. */
\r
2471 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2473 /* Divide by zero check. */
\r
2474 if( ulTotalRunTimeDiv100 > 0UL )
\r
2476 /* Has the task run at all? */
\r
2477 if( pxNextTCB->ulRunTimeCounter == 0UL )
\r
2479 /* The task has used no CPU time at all. */
\r
2480 sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
\r
2484 /* What percentage of the total run time has the task used?
\r
2485 This will always be rounded down to the nearest integer.
\r
2486 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
2487 ulStatsAsPercentage = pxNextTCB->ulRunTimeCounter / ulTotalRunTimeDiv100;
\r
2489 if( ulStatsAsPercentage > 0UL )
\r
2491 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2493 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage );
\r
2497 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2498 printf() library can be used. */
\r
2499 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
2505 /* If the percentage is zero here then the task has
\r
2506 consumed less than 1% of the total run time. */
\r
2507 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2509 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter );
\r
2513 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2514 printf() library can be used. */
\r
2515 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
\r
2521 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString );
\r
2524 } while( pxNextTCB != pxFirstTCB );
\r
2528 /*-----------------------------------------------------------*/
\r
2530 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2532 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2534 register unsigned short usCount = 0U;
\r
2536 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2538 pucStackByte -= portSTACK_GROWTH;
\r
2542 usCount /= sizeof( portSTACK_TYPE );
\r
2548 /*-----------------------------------------------------------*/
\r
2550 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2552 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2555 unsigned char *pcEndOfStack;
\r
2556 unsigned portBASE_TYPE uxReturn;
\r
2558 pxTCB = prvGetTCBFromHandle( xTask );
\r
2560 #if portSTACK_GROWTH < 0
\r
2562 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2566 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2570 uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );
\r
2576 /*-----------------------------------------------------------*/
\r
2578 #if ( INCLUDE_vTaskDelete == 1 )
\r
2580 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2582 /* This call is required specifically for the TriCore port. It must be
\r
2583 above the vPortFree() calls. The call is also used by ports/demos that
\r
2584 want to allocate and clean RAM statically. */
\r
2585 portCLEAN_UP_TCB( pxTCB );
\r
2587 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2588 the task to free any memory allocated at the application level. */
\r
2589 vPortFreeAligned( pxTCB->pxStack );
\r
2590 vPortFree( pxTCB );
\r
2596 /*-----------------------------------------------------------*/
\r
2598 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
2600 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2602 xTaskHandle xReturn;
\r
2604 /* A critical section is not required as this is not called from
\r
2605 an interrupt and the current TCB will always be the same for any
\r
2606 individual execution thread. */
\r
2607 xReturn = pxCurrentTCB;
\r
2614 /*-----------------------------------------------------------*/
\r
2616 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
2618 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2620 portBASE_TYPE xReturn;
\r
2622 if( xSchedulerRunning == pdFALSE )
\r
2624 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2628 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2630 xReturn = taskSCHEDULER_RUNNING;
\r
2634 xReturn = taskSCHEDULER_SUSPENDED;
\r
2642 /*-----------------------------------------------------------*/
\r
2644 #if ( configUSE_MUTEXES == 1 )
\r
2646 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
2648 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2650 /* If the mutex was given back by an interrupt while the queue was
\r
2651 locked then the mutex holder might now be NULL. */
\r
2652 if( pxMutexHolder != NULL )
\r
2654 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2656 /* Adjust the mutex holder state to account for its new priority. */
\r
2657 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
2659 /* If the task being modified is in the ready state it will need to
\r
2660 be moved into a new list. */
\r
2661 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
2663 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
2665 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2668 /* Inherit the priority before being moved into the new list. */
\r
2669 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2670 prvAddTaskToReadyQueue( pxTCB );
\r
2674 /* Just inherit the priority. */
\r
2675 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2678 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
2684 /*-----------------------------------------------------------*/
\r
2686 #if ( configUSE_MUTEXES == 1 )
\r
2688 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2690 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2692 if( pxMutexHolder != NULL )
\r
2694 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2696 /* We must be the running task to be able to give the mutex back.
\r
2697 Remove ourselves from the ready list we currently appear in. */
\r
2698 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
2700 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2703 /* Disinherit the priority before adding the task into the new
\r
2705 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
2706 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2707 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2708 prvAddTaskToReadyQueue( pxTCB );
\r
2714 /*-----------------------------------------------------------*/
\r
2716 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2718 void vTaskEnterCritical( void )
\r
2720 portDISABLE_INTERRUPTS();
\r
2722 if( xSchedulerRunning != pdFALSE )
\r
2724 ( pxCurrentTCB->uxCriticalNesting )++;
\r
2729 /*-----------------------------------------------------------*/
\r
2731 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2733 void vTaskExitCritical( void )
\r
2735 if( xSchedulerRunning != pdFALSE )
\r
2737 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
2739 ( pxCurrentTCB->uxCriticalNesting )--;
\r
2741 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
2743 portENABLE_INTERRUPTS();
\r
2750 /*-----------------------------------------------------------*/
\r
projects / freertos / blob