2 FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.
\r
5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
\r
7 ***************************************************************************
\r
9 * FreeRTOS provides completely free yet professionally developed, *
\r
10 * robust, strictly quality controlled, supported, and cross *
\r
11 * platform software that has become a de facto standard. *
\r
13 * Help yourself get started quickly and support the FreeRTOS *
\r
14 * project by purchasing a FreeRTOS tutorial book, reference *
\r
15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
\r
19 ***************************************************************************
\r
21 This file is part of the FreeRTOS distribution.
\r
23 FreeRTOS is free software; you can redistribute it and/or modify it under
\r
24 the terms of the GNU General Public License (version 2) as published by the
\r
25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
\r
27 >>! NOTE: The modification to the GPL is included to allow you to distribute
\r
28 >>! a combined work that includes FreeRTOS without being obliged to provide
\r
29 >>! the source code for proprietary components outside of the FreeRTOS
\r
32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
\r
33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
\r
34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
\r
35 link: http://www.freertos.org/a00114.html
\r
39 ***************************************************************************
\r
41 * Having a problem? Start by reading the FAQ "My application does *
\r
42 * not run, what could be wrong?" *
\r
44 * http://www.FreeRTOS.org/FAQHelp.html *
\r
46 ***************************************************************************
\r
48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
\r
49 license and Real Time Engineers Ltd. contact details.
\r
51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
\r
52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
\r
53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
\r
55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
\r
56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
\r
57 licenses offer ticketed support, indemnification and middleware.
\r
59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
\r
60 engineered and independently SIL3 certified version for use in safety and
\r
61 mission critical applications that require provable dependability.
\r
66 /* Standard includes. */
\r
70 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
\r
71 all the API functions to use the MPU wrappers. That should only be done when
\r
72 task.h is included from an application file. */
\r
73 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
\r
75 /* FreeRTOS includes. */
\r
76 #include "FreeRTOS.h"
\r
79 #include "StackMacros.h"
\r
81 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
\r
82 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
\r
83 header files above, but not in this file, in order to generate the correct
\r
84 privileged Vs unprivileged linkage and placement. */
\r
85 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
\r
87 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
\r
88 /* At the bottom of this file are two optional functions that can be used
\r
89 to generate human readable text from the raw data generated by the
\r
90 uxTaskGetSystemState() function. Note the formatting functions are provided
\r
91 for convenience only, and are NOT considered part of the kernel. */
\r
93 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
\r
95 /* Sanity check the configuration. */
\r
96 #if configUSE_TICKLESS_IDLE != 0
\r
97 #if INCLUDE_vTaskSuspend != 1
\r
98 #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
\r
99 #endif /* INCLUDE_vTaskSuspend */
\r
100 #endif /* configUSE_TICKLESS_IDLE */
\r
103 * Defines the size, in words, of the stack allocated to the idle task.
\r
105 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
\r
107 #if( configUSE_PREEMPTION == 0 )
\r
108 /* If the cooperative scheduler is being used then a yield should not be
\r
109 performed just because a higher priority task has been woken. */
\r
110 #define taskYIELD_IF_USING_PREEMPTION()
\r
112 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
\r
116 * Task control block. A task control block (TCB) is allocated for each task,
\r
117 * and stores task state information, including a pointer to the task's context
\r
118 * (the task's run time environment, including register values)
\r
120 typedef struct tskTaskControlBlock
\r
122 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
124 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
125 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
128 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
129 xListItem xEventListItem; /*< Used to reference a task from an event list. */
\r
130 unsigned portBASE_TYPE uxPriority; /*< The priority of the task. 0 is the lowest priority. */
\r
131 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
\r
132 signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
\r
134 #if ( portSTACK_GROWTH > 0 )
\r
135 portSTACK_TYPE *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
\r
138 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
139 unsigned portBASE_TYPE uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
\r
142 #if ( configUSE_TRACE_FACILITY == 1 )
\r
143 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
144 unsigned portBASE_TYPE uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
\r
147 #if ( configUSE_MUTEXES == 1 )
\r
148 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
\r
151 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
152 pdTASK_HOOK_CODE pxTaskTag;
\r
155 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
156 unsigned long ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
\r
159 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
160 /* Allocate a Newlib reent structure that is specific to this task.
\r
161 Note Newlib support has been included by popular demand, but is not
\r
162 used by the FreeRTOS maintainers themselves. FreeRTOS is not
\r
163 responsible for resulting newlib operation. User must be familiar with
\r
164 newlib and must provide system-wide implementations of the necessary
\r
165 stubs. Be warned that (at the time of writing) the current newlib design
\r
166 implements a system-wide malloc() that must be provided with locks. */
\r
167 struct _reent xNewLib_reent;
\r
173 * Some kernel aware debuggers require the data the debugger needs access to to
\r
174 * be global, rather than file scope.
\r
176 #ifdef portREMOVE_STATIC_QUALIFIER
\r
180 /*lint -e956 A manual analysis and inspection has been used to determine which
\r
181 static variables must be declared volatile. */
\r
183 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
\r
185 /* Lists for ready and blocked tasks. --------------------*/
\r
186 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
\r
187 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
\r
188 PRIVILEGED_DATA static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
\r
189 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
\r
190 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
191 PRIVILEGED_DATA static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready list when the scheduler is resumed. */
\r
193 #if ( INCLUDE_vTaskDelete == 1 )
\r
195 PRIVILEGED_DATA static xList xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
\r
196 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0U;
\r
200 #if ( INCLUDE_vTaskSuspend == 1 )
\r
202 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
\r
206 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
208 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
212 /* Other file private variables. --------------------------------*/
\r
213 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0U;
\r
214 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0U;
\r
215 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
\r
216 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
\r
217 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
\r
218 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxPendedTicks = ( unsigned portBASE_TYPE ) 0U;
\r
219 PRIVILEGED_DATA static volatile portBASE_TYPE xYieldPending = pdFALSE;
\r
220 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
\r
221 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0U;
\r
222 PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime = portMAX_DELAY;
\r
224 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
226 PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
\r
227 PRIVILEGED_DATA static unsigned long ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
\r
233 /* Debugging and trace facilities private variables and macros. ------------*/
\r
236 * The value used to fill the stack of a task when the task is created. This
\r
237 * is used purely for checking the high water mark for tasks.
\r
239 #define tskSTACK_FILL_BYTE ( 0xa5U )
\r
242 * Macros used by vListTask to indicate which state a task is in.
\r
244 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
\r
245 #define tskREADY_CHAR ( ( signed char ) 'R' )
\r
246 #define tskDELETED_CHAR ( ( signed char ) 'D' )
\r
247 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
\r
249 /*-----------------------------------------------------------*/
\r
251 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
\r
253 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
\r
254 performed in a generic way that is not optimised to any particular
\r
255 microcontroller architecture. */
\r
257 /* uxTopReadyPriority holds the priority of the highest priority ready
\r
259 #define taskRECORD_READY_PRIORITY( uxPriority ) \
\r
261 if( ( uxPriority ) > uxTopReadyPriority ) \
\r
263 uxTopReadyPriority = ( uxPriority ); \
\r
265 } /* taskRECORD_READY_PRIORITY */
\r
267 /*-----------------------------------------------------------*/
\r
269 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
\r
271 /* Find the highest priority queue that contains ready tasks. */ \
\r
272 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
\r
274 configASSERT( uxTopReadyPriority ); \
\r
275 --uxTopReadyPriority; \
\r
278 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
\r
279 the same priority get an equal share of the processor time. */ \
\r
280 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
\r
281 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
\r
283 /*-----------------------------------------------------------*/
\r
285 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
\r
286 they are only required when a port optimised method of task selection is
\r
288 #define taskRESET_READY_PRIORITY( uxPriority )
\r
289 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
\r
291 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
\r
293 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
\r
294 performed in a way that is tailored to the particular microcontroller
\r
295 architecture being used. */
\r
297 /* A port optimised version is provided. Call the port defined macros. */
\r
298 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
\r
300 /*-----------------------------------------------------------*/
\r
302 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
\r
304 unsigned portBASE_TYPE uxTopPriority; \
\r
306 /* Find the highest priority queue that contains ready tasks. */ \
\r
307 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
\r
308 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
\r
309 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
\r
310 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
\r
312 /*-----------------------------------------------------------*/
\r
314 /* A port optimised version is provided, call it only if the TCB being reset
\r
315 is being referenced from a ready list. If it is referenced from a delayed
\r
316 or suspended list then it won't be in a ready list. */
\r
317 #define taskRESET_READY_PRIORITY( uxPriority ) \
\r
319 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == 0 ) \
\r
321 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
\r
325 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
\r
327 /*-----------------------------------------------------------*/
\r
329 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
\r
330 count overflows. */
\r
331 #define taskSWITCH_DELAYED_LISTS() \
\r
335 /* The delayed tasks list should be empty when the lists are switched. */ \
\r
336 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
\r
338 pxTemp = pxDelayedTaskList; \
\r
339 pxDelayedTaskList = pxOverflowDelayedTaskList; \
\r
340 pxOverflowDelayedTaskList = pxTemp; \
\r
341 xNumOfOverflows++; \
\r
342 prvResetNextTaskUnblockTime(); \
\r
345 /*-----------------------------------------------------------*/
\r
348 * Place the task represented by pxTCB into the appropriate ready list for
\r
349 * the task. It is inserted at the end of the list.
\r
351 #define prvAddTaskToReadyList( pxTCB ) \
\r
352 traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
\r
353 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
\r
354 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
\r
355 /*-----------------------------------------------------------*/
\r
358 * Several functions take an xTaskHandle parameter that can optionally be NULL,
\r
359 * where NULL is used to indicate that the handle of the currently executing
\r
360 * task should be used in place of the parameter. This macro simply checks to
\r
361 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
\r
363 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
\r
365 /* Callback function prototypes. --------------------------*/
\r
366 extern void vApplicationStackOverflowHook( xTaskHandle xTask, signed char *pcTaskName );
\r
367 extern void vApplicationTickHook( void );
\r
369 /* File private functions. --------------------------------*/
\r
372 * Utility to ready a TCB for a given task. Mainly just copies the parameters
\r
373 * into the TCB structure.
\r
375 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth ) PRIVILEGED_FUNCTION;
\r
378 * Utility to ready all the lists used by the scheduler. This is called
\r
379 * automatically upon the creation of the first task.
\r
381 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
\r
384 * The idle task, which as all tasks is implemented as a never ending loop.
\r
385 * The idle task is automatically created and added to the ready lists upon
\r
386 * creation of the first user task.
\r
388 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
\r
389 * language extensions. The equivalent prototype for this function is:
\r
391 * void prvIdleTask( void *pvParameters );
\r
394 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
\r
397 * Utility to free all memory allocated by the scheduler to hold a TCB,
\r
398 * including the stack pointed to by the TCB.
\r
400 * This does not free memory allocated by the task itself (i.e. memory
\r
401 * allocated by calls to pvPortMalloc from within the tasks application code).
\r
403 #if ( INCLUDE_vTaskDelete == 1 )
\r
405 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
\r
410 * Used only by the idle task. This checks to see if anything has been placed
\r
411 * in the list of tasks waiting to be deleted. If so the task is cleaned up
\r
412 * and its TCB deleted.
\r
414 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
\r
417 * The currently executing task is entering the Blocked state. Add the task to
\r
418 * either the current or the overflow delayed task list.
\r
420 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
\r
423 * Allocates memory from the heap for a TCB and associated stack. Checks the
\r
424 * allocation was successful.
\r
426 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
\r
429 * Fills an xTaskStatusType structure with information on each task that is
\r
430 * referenced from the pxList list (which may be a ready list, a delayed list,
\r
431 * a suspended list, etc.).
\r
433 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
\r
434 * NORMAL APPLICATION CODE.
\r
436 #if ( configUSE_TRACE_FACILITY == 1 )
\r
438 static unsigned portBASE_TYPE prvListTaskWithinSingleList( xTaskStatusType *pxTaskStatusArray, xList *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
\r
443 * When a task is created, the stack of the task is filled with a known value.
\r
444 * This function determines the 'high water mark' of the task stack by
\r
445 * determining how much of the stack remains at the original preset value.
\r
447 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
449 static unsigned short prvTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
\r
454 * Return the amount of time, in ticks, that will pass before the kernel will
\r
455 * next move a task from the Blocked state to the Running state.
\r
457 * This conditional compilation should use inequality to 0, not equality to 1.
\r
458 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
\r
459 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
\r
460 * set to a value other than 1.
\r
462 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
464 static portTickType prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
\r
469 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
\r
470 * will exit the Blocked state.
\r
472 static void prvResetNextTaskUnblockTime( void );
\r
474 /*-----------------------------------------------------------*/
\r
476 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
478 signed portBASE_TYPE xReturn;
\r
481 configASSERT( pxTaskCode );
\r
482 configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );
\r
484 /* Allocate the memory required by the TCB and stack for the new task,
\r
485 checking that the allocation was successful. */
\r
486 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
\r
488 if( pxNewTCB != NULL )
\r
490 portSTACK_TYPE *pxTopOfStack;
\r
492 #if( portUSING_MPU_WRAPPERS == 1 )
\r
493 /* Should the task be created in privileged mode? */
\r
494 portBASE_TYPE xRunPrivileged;
\r
495 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
\r
497 xRunPrivileged = pdTRUE;
\r
501 xRunPrivileged = pdFALSE;
\r
503 uxPriority &= ~portPRIVILEGE_BIT;
\r
504 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
506 /* Calculate the top of stack address. This depends on whether the
\r
507 stack grows from high memory to low (as per the 80x86) or vice versa.
\r
508 portSTACK_GROWTH is used to make the result positive or negative as
\r
509 required by the port. */
\r
510 #if( portSTACK_GROWTH < 0 )
\r
512 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
\r
513 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) ); /*lint !e923 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. */
\r
515 /* Check the alignment of the calculated top of stack is correct. */
\r
516 configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
518 #else /* portSTACK_GROWTH */
\r
520 pxTopOfStack = pxNewTCB->pxStack;
\r
522 /* Check the alignment of the stack buffer is correct. */
\r
523 configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
525 /* If we want to use stack checking on architectures that use
\r
526 a positive stack growth direction then we also need to store the
\r
527 other extreme of the stack space. */
\r
528 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
\r
530 #endif /* portSTACK_GROWTH */
\r
532 /* Setup the newly allocated TCB with the initial state of the task. */
\r
533 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
\r
535 /* Initialize the TCB stack to look as if the task was already running,
\r
536 but had been interrupted by the scheduler. The return address is set
\r
537 to the start of the task function. Once the stack has been initialised
\r
538 the top of stack variable is updated. */
\r
539 #if( portUSING_MPU_WRAPPERS == 1 )
\r
541 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
543 #else /* portUSING_MPU_WRAPPERS */
\r
545 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
547 #endif /* portUSING_MPU_WRAPPERS */
\r
549 if( ( void * ) pxCreatedTask != NULL )
\r
551 /* Pass the TCB out - in an anonymous way. The calling function/
\r
552 task can use this as a handle to delete the task later if
\r
554 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
\r
557 /* Ensure interrupts don't access the task lists while they are being
\r
559 taskENTER_CRITICAL();
\r
561 uxCurrentNumberOfTasks++;
\r
562 if( pxCurrentTCB == NULL )
\r
564 /* There are no other tasks, or all the other tasks are in
\r
565 the suspended state - make this the current task. */
\r
566 pxCurrentTCB = pxNewTCB;
\r
568 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
\r
570 /* This is the first task to be created so do the preliminary
\r
571 initialisation required. We will not recover if this call
\r
572 fails, but we will report the failure. */
\r
573 prvInitialiseTaskLists();
\r
578 /* If the scheduler is not already running, make this task the
\r
579 current task if it is the highest priority task to be created
\r
581 if( xSchedulerRunning == pdFALSE )
\r
583 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
585 pxCurrentTCB = pxNewTCB;
\r
592 #if ( configUSE_TRACE_FACILITY == 1 )
\r
594 /* Add a counter into the TCB for tracing only. */
\r
595 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
597 #endif /* configUSE_TRACE_FACILITY */
\r
598 traceTASK_CREATE( pxNewTCB );
\r
600 prvAddTaskToReadyList( pxNewTCB );
\r
603 portSETUP_TCB( pxNewTCB );
\r
605 taskEXIT_CRITICAL();
\r
609 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
610 traceTASK_CREATE_FAILED();
\r
613 if( xReturn == pdPASS )
\r
615 if( xSchedulerRunning != pdFALSE )
\r
617 /* If the created task is of a higher priority than the current task
\r
618 then it should run now. */
\r
619 if( pxCurrentTCB->uxPriority < uxPriority )
\r
621 taskYIELD_IF_USING_PREEMPTION();
\r
628 /*-----------------------------------------------------------*/
\r
630 #if ( INCLUDE_vTaskDelete == 1 )
\r
632 void vTaskDelete( xTaskHandle xTaskToDelete )
\r
636 taskENTER_CRITICAL();
\r
638 /* If null is passed in here then it is the calling task that is
\r
640 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
642 /* Remove task from the ready list and place in the termination list.
\r
643 This will stop the task from be scheduled. The idle task will check
\r
644 the termination list and free up any memory allocated by the
\r
645 scheduler for the TCB and stack. */
\r
646 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
648 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
651 /* Is the task waiting on an event also? */
\r
652 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
654 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
657 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
659 /* Increment the ucTasksDeleted variable so the idle task knows
\r
660 there is a task that has been deleted and that it should therefore
\r
661 check the xTasksWaitingTermination list. */
\r
664 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
665 can detect that the task lists need re-generating. */
\r
668 traceTASK_DELETE( pxTCB );
\r
670 taskEXIT_CRITICAL();
\r
672 /* Force a reschedule if it is the currently running task that has just
\r
674 if( xSchedulerRunning != pdFALSE )
\r
676 if( pxTCB == pxCurrentTCB )
\r
678 configASSERT( uxSchedulerSuspended == 0 );
\r
680 /* The pre-delete hook is primarily for the Windows simulator,
\r
681 in which Windows specific clean up operations are performed,
\r
682 after which it is not possible to yield away from this task -
\r
683 hence xYieldPending is used to latch that a context switch is
\r
685 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
686 portYIELD_WITHIN_API();
\r
690 /* Reset the next expected unblock time in case it referred to
\r
691 the task that has just been deleted. */
\r
692 prvResetNextTaskUnblockTime();
\r
697 #endif /* INCLUDE_vTaskDelete */
\r
698 /*-----------------------------------------------------------*/
\r
700 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
702 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, const portTickType xTimeIncrement )
\r
704 portTickType xTimeToWake;
\r
705 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
\r
707 configASSERT( pxPreviousWakeTime );
\r
708 configASSERT( ( xTimeIncrement > 0U ) );
\r
709 configASSERT( uxSchedulerSuspended == 0 );
\r
713 /* Minor optimisation. The tick count cannot change in this
\r
715 const portTickType xConstTickCount = xTickCount;
\r
717 /* Generate the tick time at which the task wants to wake. */
\r
718 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
720 if( xConstTickCount < *pxPreviousWakeTime )
\r
722 /* The tick count has overflowed since this function was
\r
723 lasted called. In this case the only time we should ever
\r
724 actually delay is if the wake time has also overflowed,
\r
725 and the wake time is greater than the tick time. When this
\r
726 is the case it is as if neither time had overflowed. */
\r
727 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
729 xShouldDelay = pdTRUE;
\r
734 /* The tick time has not overflowed. In this case we will
\r
735 delay if either the wake time has overflowed, and/or the
\r
736 tick time is less than the wake time. */
\r
737 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
739 xShouldDelay = pdTRUE;
\r
743 /* Update the wake time ready for the next call. */
\r
744 *pxPreviousWakeTime = xTimeToWake;
\r
746 if( xShouldDelay != pdFALSE )
\r
748 traceTASK_DELAY_UNTIL();
\r
750 /* We must remove ourselves from the ready list before adding
\r
751 ourselves to the blocked list as the same list item is used for
\r
753 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
755 /* The current task must be in a ready list, so there is
\r
756 no need to check, and the port reset macro can be called
\r
758 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
761 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
764 xAlreadyYielded = xTaskResumeAll();
\r
766 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
767 have put ourselves to sleep. */
\r
768 if( xAlreadyYielded == pdFALSE )
\r
770 portYIELD_WITHIN_API();
\r
774 #endif /* INCLUDE_vTaskDelayUntil */
\r
775 /*-----------------------------------------------------------*/
\r
777 #if ( INCLUDE_vTaskDelay == 1 )
\r
779 void vTaskDelay( const portTickType xTicksToDelay )
\r
781 portTickType xTimeToWake;
\r
782 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
785 /* A delay time of zero just forces a reschedule. */
\r
786 if( xTicksToDelay > ( portTickType ) 0U )
\r
788 configASSERT( uxSchedulerSuspended == 0 );
\r
793 /* A task that is removed from the event list while the
\r
794 scheduler is suspended will not get placed in the ready
\r
795 list or removed from the blocked list until the scheduler
\r
798 This task cannot be in an event list as it is the currently
\r
801 /* Calculate the time to wake - this may overflow but this is
\r
803 xTimeToWake = xTickCount + xTicksToDelay;
\r
805 /* We must remove ourselves from the ready list before adding
\r
806 ourselves to the blocked list as the same list item is used for
\r
808 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
810 /* The current task must be in a ready list, so there is
\r
811 no need to check, and the port reset macro can be called
\r
813 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
815 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
817 xAlreadyYielded = xTaskResumeAll();
\r
820 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
821 have put ourselves to sleep. */
\r
822 if( xAlreadyYielded == pdFALSE )
\r
824 portYIELD_WITHIN_API();
\r
828 #endif /* INCLUDE_vTaskDelay */
\r
829 /*-----------------------------------------------------------*/
\r
831 #if ( INCLUDE_eTaskGetState == 1 )
\r
833 eTaskState eTaskGetState( xTaskHandle xTask )
\r
835 eTaskState eReturn;
\r
836 xList *pxStateList;
\r
837 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
839 configASSERT( pxTCB );
\r
841 if( pxTCB == pxCurrentTCB )
\r
843 /* The task calling this function is querying its own state. */
\r
844 eReturn = eRunning;
\r
848 taskENTER_CRITICAL();
\r
850 pxStateList = ( xList * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
852 taskEXIT_CRITICAL();
\r
854 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
856 /* The task being queried is referenced from one of the Blocked
\r
858 eReturn = eBlocked;
\r
861 #if ( INCLUDE_vTaskSuspend == 1 )
\r
862 else if( pxStateList == &xSuspendedTaskList )
\r
864 /* The task being queried is referenced from the suspended
\r
865 list. Is it genuinely suspended or is it block
\r
867 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
869 eReturn = eSuspended;
\r
873 eReturn = eBlocked;
\r
878 #if ( INCLUDE_vTaskDelete == 1 )
\r
879 else if( pxStateList == &xTasksWaitingTermination )
\r
881 /* The task being queried is referenced from the deleted
\r
883 eReturn = eDeleted;
\r
889 /* If the task is not in any other state, it must be in the
\r
890 Ready (including pending ready) state. */
\r
898 #endif /* INCLUDE_eTaskGetState */
\r
899 /*-----------------------------------------------------------*/
\r
901 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
903 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle xTask )
\r
906 unsigned portBASE_TYPE uxReturn;
\r
908 taskENTER_CRITICAL();
\r
910 /* If null is passed in here then we are changing the
\r
911 priority of the calling function. */
\r
912 pxTCB = prvGetTCBFromHandle( xTask );
\r
913 uxReturn = pxTCB->uxPriority;
\r
915 taskEXIT_CRITICAL();
\r
920 #endif /* INCLUDE_uxTaskPriorityGet */
\r
921 /*-----------------------------------------------------------*/
\r
923 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
925 void vTaskPrioritySet( xTaskHandle xTask, unsigned portBASE_TYPE uxNewPriority )
\r
928 unsigned portBASE_TYPE uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
929 portBASE_TYPE xYieldRequired = pdFALSE;
\r
931 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
933 /* Ensure the new priority is valid. */
\r
934 if( uxNewPriority >= ( unsigned portBASE_TYPE ) configMAX_PRIORITIES )
\r
936 uxNewPriority = ( unsigned portBASE_TYPE ) configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
939 taskENTER_CRITICAL();
\r
941 /* If null is passed in here then it is the priority of the calling
\r
942 task that is being changed. */
\r
943 pxTCB = prvGetTCBFromHandle( xTask );
\r
945 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
947 #if ( configUSE_MUTEXES == 1 )
\r
949 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
953 uxCurrentBasePriority = pxTCB->uxPriority;
\r
957 if( uxCurrentBasePriority != uxNewPriority )
\r
959 /* The priority change may have readied a task of higher
\r
960 priority than the calling task. */
\r
961 if( uxNewPriority > uxCurrentBasePriority )
\r
963 if( pxTCB != pxCurrentTCB )
\r
965 /* The priority of a task other than the currently
\r
966 running task is being raised. Is the priority being
\r
967 raised above that of the running task? */
\r
968 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
970 xYieldRequired = pdTRUE;
\r
975 /* The priority of the running task is being raised,
\r
976 but the running task must already be the highest
\r
977 priority task able to run so no yield is required. */
\r
980 else if( pxTCB == pxCurrentTCB )
\r
982 /* Setting the priority of the running task down means
\r
983 there may now be another task of higher priority that
\r
984 is ready to execute. */
\r
985 xYieldRequired = pdTRUE;
\r
989 /* Setting the priority of any other task down does not
\r
990 require a yield as the running task must be above the
\r
991 new priority of the task being modified. */
\r
994 /* Remember the ready list the task might be referenced from
\r
995 before its uxPriority member is changed so the
\r
996 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
997 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
999 #if ( configUSE_MUTEXES == 1 )
\r
1001 /* Only change the priority being used if the task is not
\r
1002 currently using an inherited priority. */
\r
1003 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1005 pxTCB->uxPriority = uxNewPriority;
\r
1008 /* The base priority gets set whatever. */
\r
1009 pxTCB->uxBasePriority = uxNewPriority;
\r
1013 pxTCB->uxPriority = uxNewPriority;
\r
1017 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( portTickType ) configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1019 /* If the task is in the blocked or suspended list we need do
\r
1020 nothing more than change it's priority variable. However, if
\r
1021 the task is in a ready list it needs to be removed and placed
\r
1022 in the list appropriate to its new priority. */
\r
1023 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1025 /* The task is currently in its ready list - remove before adding
\r
1026 it to it's new ready list. As we are in a critical section we
\r
1027 can do this even if the scheduler is suspended. */
\r
1028 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
1030 /* It is known that the task is in its ready list so
\r
1031 there is no need to check again and the port level
\r
1032 reset macro can be called directly. */
\r
1033 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1035 prvAddTaskToReadyList( pxTCB );
\r
1038 if( xYieldRequired == pdTRUE )
\r
1040 taskYIELD_IF_USING_PREEMPTION();
\r
1043 /* Remove compiler warning about unused variables when the port
\r
1044 optimised task selection is not being used. */
\r
1045 ( void ) uxPriorityUsedOnEntry;
\r
1048 taskEXIT_CRITICAL();
\r
1051 #endif /* INCLUDE_vTaskPrioritySet */
\r
1052 /*-----------------------------------------------------------*/
\r
1054 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1056 void vTaskSuspend( xTaskHandle xTaskToSuspend )
\r
1060 taskENTER_CRITICAL();
\r
1062 /* If null is passed in here then it is the running task that is
\r
1063 being suspended. */
\r
1064 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1066 traceTASK_SUSPEND( pxTCB );
\r
1068 /* Remove task from the ready/delayed list and place in the
\r
1069 suspended list. */
\r
1070 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
1072 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1075 /* Is the task waiting on an event also? */
\r
1076 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1078 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1081 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1083 taskEXIT_CRITICAL();
\r
1085 if( pxTCB == pxCurrentTCB )
\r
1087 if( xSchedulerRunning != pdFALSE )
\r
1089 /* The current task has just been suspended. */
\r
1090 configASSERT( uxSchedulerSuspended == 0 );
\r
1091 portYIELD_WITHIN_API();
\r
1095 /* The scheduler is not running, but the task that was pointed
\r
1096 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1097 must be adjusted to point to a different task. */
\r
1098 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1100 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1101 NULL so when the next task is created pxCurrentTCB will
\r
1102 be set to point to it no matter what its relative priority
\r
1104 pxCurrentTCB = NULL;
\r
1108 vTaskSwitchContext();
\r
1114 if( xSchedulerRunning != pdFALSE )
\r
1116 /* A task other than the currently running task was suspended,
\r
1117 reset the next expected unblock time in case it referred to the
\r
1118 task that is now in the Suspended state. */
\r
1119 prvResetNextTaskUnblockTime();
\r
1124 #endif /* INCLUDE_vTaskSuspend */
\r
1125 /*-----------------------------------------------------------*/
\r
1127 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1129 signed portBASE_TYPE xTaskIsTaskSuspended( const xTaskHandle xTask )
\r
1131 signed portBASE_TYPE xReturn = pdFALSE;
\r
1132 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
1134 /* It does not make sense to check if the calling task is suspended. */
\r
1135 configASSERT( xTask );
\r
1137 /* Is the task we are attempting to resume actually in the
\r
1138 suspended list? */
\r
1139 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1141 /* Has the task already been resumed from within an ISR? */
\r
1142 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1144 /* Is it in the suspended list because it is in the
\r
1145 Suspended state? It is possible to be in the suspended
\r
1146 list because it is blocked on a task with no timeout
\r
1148 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE )
\r
1156 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1158 #endif /* INCLUDE_vTaskSuspend */
\r
1159 /*-----------------------------------------------------------*/
\r
1161 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1163 void vTaskResume( xTaskHandle xTaskToResume )
\r
1165 tskTCB * const pxTCB = ( tskTCB * ) xTaskToResume;
\r
1167 /* It does not make sense to resume the calling task. */
\r
1168 configASSERT( xTaskToResume );
\r
1170 /* The parameter cannot be NULL as it is impossible to resume the
\r
1171 currently executing task. */
\r
1172 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1174 taskENTER_CRITICAL();
\r
1176 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1178 traceTASK_RESUME( pxTCB );
\r
1180 /* As we are in a critical section we can access the ready
\r
1181 lists even if the scheduler is suspended. */
\r
1182 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1183 prvAddTaskToReadyList( pxTCB );
\r
1185 /* We may have just resumed a higher priority task. */
\r
1186 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1188 /* This yield may not cause the task just resumed to run,
\r
1189 but will leave the lists in the correct state for the
\r
1191 taskYIELD_IF_USING_PREEMPTION();
\r
1195 taskEXIT_CRITICAL();
\r
1199 #endif /* INCLUDE_vTaskSuspend */
\r
1201 /*-----------------------------------------------------------*/
\r
1203 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1205 portBASE_TYPE xTaskResumeFromISR( xTaskHandle xTaskToResume )
\r
1207 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1208 tskTCB * const pxTCB = ( tskTCB * ) xTaskToResume;
\r
1209 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1211 configASSERT( xTaskToResume );
\r
1213 /* RTOS ports that support interrupt nesting have the concept of a
\r
1214 maximum system call (or maximum API call) interrupt priority.
\r
1215 Interrupts that are above the maximum system call priority are keep
\r
1216 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1217 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1218 is defined in FreeRTOSConfig.h then
\r
1219 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1220 failure if a FreeRTOS API function is called from an interrupt that has
\r
1221 been assigned a priority above the configured maximum system call
\r
1222 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1223 from interrupts that have been assigned a priority at or (logically)
\r
1224 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1225 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1226 simple as possible. More information (albeit Cortex-M specific) is
\r
1227 provided on the following link:
\r
1228 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1229 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1231 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1233 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1235 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1237 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1239 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1241 xYieldRequired = pdTRUE;
\r
1244 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1245 prvAddTaskToReadyList( pxTCB );
\r
1249 /* We cannot access the delayed or ready lists, so will hold this
\r
1250 task pending until the scheduler is resumed, at which point a
\r
1251 yield will be performed if necessary. */
\r
1252 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1256 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1258 return xYieldRequired;
\r
1261 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1262 /*-----------------------------------------------------------*/
\r
1264 void vTaskStartScheduler( void )
\r
1266 portBASE_TYPE xReturn;
\r
1268 /* Add the idle task at the lowest priority. */
\r
1269 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1271 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1272 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1273 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1277 /* Create the idle task without storing its handle. */
\r
1278 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1280 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1282 #if ( configUSE_TIMERS == 1 )
\r
1284 if( xReturn == pdPASS )
\r
1286 xReturn = xTimerCreateTimerTask();
\r
1289 #endif /* configUSE_TIMERS */
\r
1291 if( xReturn == pdPASS )
\r
1293 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1294 before or during the call to xPortStartScheduler(). The stacks of
\r
1295 the created tasks contain a status word with interrupts switched on
\r
1296 so interrupts will automatically get re-enabled when the first task
\r
1298 portDISABLE_INTERRUPTS();
\r
1300 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1302 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1303 structure specific to the task that will run first. */
\r
1304 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1306 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1308 xSchedulerRunning = pdTRUE;
\r
1309 xTickCount = ( portTickType ) 0U;
\r
1311 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1312 macro must be defined to configure the timer/counter used to generate
\r
1313 the run time counter time base. */
\r
1314 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1316 /* Setting up the timer tick is hardware specific and thus in the
\r
1317 portable interface. */
\r
1318 if( xPortStartScheduler() != pdFALSE )
\r
1320 /* Should not reach here as if the scheduler is running the
\r
1321 function will not return. */
\r
1325 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1330 /* This line will only be reached if the kernel could not be started,
\r
1331 because there was not enough FreeRTOS heap to create the idle task
\r
1332 or the timer task. */
\r
1333 configASSERT( xReturn );
\r
1336 /*-----------------------------------------------------------*/
\r
1338 void vTaskEndScheduler( void )
\r
1340 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1341 routine so the original ISRs can be restored if necessary. The port
\r
1342 layer must ensure interrupts enable bit is left in the correct state. */
\r
1343 portDISABLE_INTERRUPTS();
\r
1344 xSchedulerRunning = pdFALSE;
\r
1345 vPortEndScheduler();
\r
1347 /*----------------------------------------------------------*/
\r
1349 void vTaskSuspendAll( void )
\r
1351 /* A critical section is not required as the variable is of type
\r
1352 portBASE_TYPE. Please read Richard Barry's reply in the following link to a
\r
1353 post in the FreeRTOS support forum before reporting this as a bug! -
\r
1354 http://goo.gl/wu4acr */
\r
1355 ++uxSchedulerSuspended;
\r
1357 /*----------------------------------------------------------*/
\r
1359 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1361 static portTickType prvGetExpectedIdleTime( void )
\r
1363 portTickType xReturn;
\r
1365 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1369 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1371 /* There are other idle priority tasks in the ready state. If
\r
1372 time slicing is used then the very next tick interrupt must be
\r
1378 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1384 #endif /* configUSE_TICKLESS_IDLE */
\r
1385 /*----------------------------------------------------------*/
\r
1387 signed portBASE_TYPE xTaskResumeAll( void )
\r
1390 portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1392 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1393 previous call to vTaskSuspendAll(). */
\r
1394 configASSERT( uxSchedulerSuspended );
\r
1396 /* It is possible that an ISR caused a task to be removed from an event
\r
1397 list while the scheduler was suspended. If this was the case then the
\r
1398 removed task will have been added to the xPendingReadyList. Once the
\r
1399 scheduler has been resumed it is safe to move all the pending ready
\r
1400 tasks from this list into their appropriate ready list. */
\r
1401 taskENTER_CRITICAL();
\r
1403 --uxSchedulerSuspended;
\r
1405 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1407 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0U )
\r
1409 /* Move any readied tasks from the pending list into the
\r
1410 appropriate ready list. */
\r
1411 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
1413 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
\r
1414 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1415 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1416 prvAddTaskToReadyList( pxTCB );
\r
1418 /* If we have moved a task that has a priority higher than
\r
1419 the current task then we should yield. */
\r
1420 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1422 xYieldPending = pdTRUE;
\r
1426 /* If any ticks occurred while the scheduler was suspended then
\r
1427 they should be processed now. This ensures the tick count does not
\r
1428 slip, and that any delayed tasks are resumed at the correct time. */
\r
1429 if( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1431 while( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1433 if( xTaskIncrementTick() != pdFALSE )
\r
1435 xYieldPending = pdTRUE;
\r
1441 if( xYieldPending == pdTRUE )
\r
1443 #if( configUSE_PREEMPTION != 0 )
\r
1445 xAlreadyYielded = pdTRUE;
\r
1448 taskYIELD_IF_USING_PREEMPTION();
\r
1453 taskEXIT_CRITICAL();
\r
1455 return xAlreadyYielded;
\r
1457 /*-----------------------------------------------------------*/
\r
1459 portTickType xTaskGetTickCount( void )
\r
1461 portTickType xTicks;
\r
1463 /* Critical section required if running on a 16 bit processor. */
\r
1464 taskENTER_CRITICAL();
\r
1466 xTicks = xTickCount;
\r
1468 taskEXIT_CRITICAL();
\r
1472 /*-----------------------------------------------------------*/
\r
1474 portTickType xTaskGetTickCountFromISR( void )
\r
1476 portTickType xReturn;
\r
1477 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1479 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1480 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1481 above the maximum system call priority are kept permanently enabled, even
\r
1482 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1483 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1484 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1485 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1486 assigned a priority above the configured maximum system call priority.
\r
1487 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1488 that have been assigned a priority at or (logically) below the maximum
\r
1489 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1490 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1491 More information (albeit Cortex-M specific) is provided on the following
\r
1492 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1493 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1495 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1496 xReturn = xTickCount;
\r
1497 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1501 /*-----------------------------------------------------------*/
\r
1503 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1505 /* A critical section is not required because the variables are of type
\r
1507 return uxCurrentNumberOfTasks;
\r
1509 /*-----------------------------------------------------------*/
\r
1511 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1513 signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery )
\r
1517 /* If null is passed in here then the name of the calling task is being queried. */
\r
1518 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1519 configASSERT( pxTCB );
\r
1520 return &( pxTCB->pcTaskName[ 0 ] );
\r
1523 #endif /* INCLUDE_pcTaskGetTaskName */
\r
1524 /*-----------------------------------------------------------*/
\r
1526 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1528 unsigned portBASE_TYPE uxTaskGetSystemState( xTaskStatusType *pxTaskStatusArray, unsigned portBASE_TYPE uxArraySize, unsigned long *pulTotalRunTime )
\r
1530 unsigned portBASE_TYPE uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
1532 vTaskSuspendAll();
\r
1534 /* Is there a space in the array for each task in the system? */
\r
1535 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
1537 /* Fill in an xTaskStatusType structure with information on each
\r
1538 task in the Ready state. */
\r
1542 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
1544 } while( uxQueue > ( unsigned portBASE_TYPE ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1546 /* Fill in an xTaskStatusType structure with information on each
\r
1547 task in the Blocked state. */
\r
1548 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( xList * ) pxDelayedTaskList, eBlocked );
\r
1549 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( xList * ) pxOverflowDelayedTaskList, eBlocked );
\r
1551 #if( INCLUDE_vTaskDelete == 1 )
\r
1553 /* Fill in an xTaskStatusType structure with information on
\r
1554 each task that has been deleted but not yet cleaned up. */
\r
1555 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
1559 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1561 /* Fill in an xTaskStatusType structure with information on
\r
1562 each task in the Suspended state. */
\r
1563 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
1567 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
1569 if( pulTotalRunTime != NULL )
\r
1571 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1572 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
1574 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1580 if( pulTotalRunTime != NULL )
\r
1582 *pulTotalRunTime = 0;
\r
1588 ( void ) xTaskResumeAll();
\r
1593 #endif /* configUSE_TRACE_FACILITY */
\r
1594 /*----------------------------------------------------------*/
\r
1596 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1598 xTaskHandle xTaskGetIdleTaskHandle( void )
\r
1600 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1601 started, then xIdleTaskHandle will be NULL. */
\r
1602 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1603 return xIdleTaskHandle;
\r
1606 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1607 /*----------------------------------------------------------*/
\r
1609 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
1610 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
1611 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
1613 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1615 void vTaskStepTick( portTickType xTicksToJump )
\r
1617 /* Correct the tick count value after a period during which the tick
\r
1618 was suppressed. Note this does *not* call the tick hook function for
\r
1619 each stepped tick. */
\r
1620 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
1621 xTickCount += xTicksToJump;
\r
1622 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
1625 #endif /* configUSE_TICKLESS_IDLE */
\r
1626 /*----------------------------------------------------------*/
\r
1628 portBASE_TYPE xTaskIncrementTick( void )
\r
1631 portTickType xItemValue;
\r
1632 portBASE_TYPE xSwitchRequired = pdFALSE;
\r
1634 /* Called by the portable layer each time a tick interrupt occurs.
\r
1635 Increments the tick then checks to see if the new tick value will cause any
\r
1636 tasks to be unblocked. */
\r
1637 traceTASK_INCREMENT_TICK( xTickCount );
\r
1638 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1640 /* Increment the RTOS tick, switching the delayed and overflowed
\r
1641 delayed lists if it wraps to 0. */
\r
1645 /* Minor optimisation. The tick count cannot change in this
\r
1647 const portTickType xConstTickCount = xTickCount;
\r
1649 if( xConstTickCount == ( portTickType ) 0U )
\r
1651 taskSWITCH_DELAYED_LISTS();
\r
1654 /* See if this tick has made a timeout expire. Tasks are stored in
\r
1655 the queue in the order of their wake time - meaning once one task
\r
1656 has been found whose block time has not expired there is no need to
\r
1657 look any further down the list. */
\r
1658 if( xConstTickCount >= xNextTaskUnblockTime )
\r
1662 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1664 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
1665 to the maximum possible value so it is extremely
\r
1667 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
1668 next time through. */
\r
1669 xNextTaskUnblockTime = portMAX_DELAY;
\r
1674 /* The delayed list is not empty, get the value of the
\r
1675 item at the head of the delayed list. This is the time
\r
1676 at which the task at the head of the delayed list must
\r
1677 be removed from the Blocked state. */
\r
1678 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1679 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1681 if( xConstTickCount < xItemValue )
\r
1683 /* It is not time to unblock this item yet, but the
\r
1684 item value is the time at which the task at the head
\r
1685 of the blocked list must be removed from the Blocked
\r
1686 state - so record the item value in
\r
1687 xNextTaskUnblockTime. */
\r
1688 xNextTaskUnblockTime = xItemValue;
\r
1692 /* It is time to remove the item from the Blocked state. */
\r
1693 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1695 /* Is the task waiting on an event also? If so remove
\r
1696 it from the event list. */
\r
1697 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1699 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1702 /* Place the unblocked task into the appropriate ready
\r
1704 prvAddTaskToReadyList( pxTCB );
\r
1706 /* A task being unblocked cannot cause an immediate
\r
1707 context switch if preemption is turned off. */
\r
1708 #if ( configUSE_PREEMPTION == 1 )
\r
1710 /* Preemption is on, but a context switch should
\r
1711 only be performed if the unblocked task has a
\r
1712 priority that is equal to or higher than the
\r
1713 currently executing task. */
\r
1714 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1716 xSwitchRequired = pdTRUE;
\r
1719 #endif /* configUSE_PREEMPTION */
\r
1725 /* Tasks of equal priority to the currently running task will share
\r
1726 processing time (time slice) if preemption is on, and the application
\r
1727 writer has not explicitly turned time slicing off. */
\r
1728 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
1730 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
1732 xSwitchRequired = pdTRUE;
\r
1735 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
1737 #if ( configUSE_TICK_HOOK == 1 )
\r
1739 /* Guard against the tick hook being called when the pended tick
\r
1740 count is being unwound (when the scheduler is being unlocked). */
\r
1741 if( uxPendedTicks == ( unsigned portBASE_TYPE ) 0U )
\r
1743 vApplicationTickHook();
\r
1746 #endif /* configUSE_TICK_HOOK */
\r
1752 /* The tick hook gets called at regular intervals, even if the
\r
1753 scheduler is locked. */
\r
1754 #if ( configUSE_TICK_HOOK == 1 )
\r
1756 vApplicationTickHook();
\r
1761 #if ( configUSE_PREEMPTION == 1 )
\r
1763 if( xYieldPending != pdFALSE )
\r
1765 xSwitchRequired = pdTRUE;
\r
1768 #endif /* configUSE_PREEMPTION */
\r
1770 return xSwitchRequired;
\r
1772 /*-----------------------------------------------------------*/
\r
1774 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1776 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction )
\r
1780 /* If xTask is NULL then it is the task hook of the calling task that is
\r
1782 if( xTask == NULL )
\r
1784 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1788 xTCB = ( tskTCB * ) xTask;
\r
1791 /* Save the hook function in the TCB. A critical section is required as
\r
1792 the value can be accessed from an interrupt. */
\r
1793 taskENTER_CRITICAL();
\r
1794 xTCB->pxTaskTag = pxHookFunction;
\r
1795 taskEXIT_CRITICAL();
\r
1798 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1799 /*-----------------------------------------------------------*/
\r
1801 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1803 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1806 pdTASK_HOOK_CODE xReturn;
\r
1808 /* If xTask is NULL then we are setting our own task hook. */
\r
1809 if( xTask == NULL )
\r
1811 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1815 xTCB = ( tskTCB * ) xTask;
\r
1818 /* Save the hook function in the TCB. A critical section is required as
\r
1819 the value can be accessed from an interrupt. */
\r
1820 taskENTER_CRITICAL();
\r
1821 xReturn = xTCB->pxTaskTag;
\r
1822 taskEXIT_CRITICAL();
\r
1827 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1828 /*-----------------------------------------------------------*/
\r
1830 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1832 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1835 portBASE_TYPE xReturn;
\r
1837 /* If xTask is NULL then we are calling our own task hook. */
\r
1838 if( xTask == NULL )
\r
1840 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1844 xTCB = ( tskTCB * ) xTask;
\r
1847 if( xTCB->pxTaskTag != NULL )
\r
1849 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1859 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1860 /*-----------------------------------------------------------*/
\r
1862 void vTaskSwitchContext( void )
\r
1864 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1866 /* The scheduler is currently suspended - do not allow a context
\r
1868 xYieldPending = pdTRUE;
\r
1872 xYieldPending = pdFALSE;
\r
1873 traceTASK_SWITCHED_OUT();
\r
1875 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1877 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1878 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1880 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1883 /* Add the amount of time the task has been running to the
\r
1884 accumulated time so far. The time the task started running was
\r
1885 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
1886 protection here so count values are only valid until the timer
\r
1887 overflows. The guard against negative values is to protect
\r
1888 against suspect run time stat counter implementations - which
\r
1889 are provided by the application, not the kernel. */
\r
1890 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
1892 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
1894 ulTaskSwitchedInTime = ulTotalRunTime;
\r
1896 #endif /* configGENERATE_RUN_TIME_STATS */
\r
1898 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1899 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1901 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
1903 traceTASK_SWITCHED_IN();
\r
1905 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1907 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1908 structure specific to this task. */
\r
1909 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1911 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1914 /*-----------------------------------------------------------*/
\r
1916 void vTaskPlaceOnEventList( xList * const pxEventList, const portTickType xTicksToWait )
\r
1918 portTickType xTimeToWake;
\r
1920 configASSERT( pxEventList );
\r
1922 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1923 SCHEDULER SUSPENDED. */
\r
1925 /* Place the event list item of the TCB in the appropriate event list.
\r
1926 This is placed in the list in priority order so the highest priority task
\r
1927 is the first to be woken by the event. */
\r
1928 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
1930 /* We must remove ourselves from the ready list before adding ourselves
\r
1931 to the blocked list as the same list item is used for both lists. We have
\r
1932 exclusive access to the ready lists as the scheduler is locked. */
\r
1933 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
1935 /* The current task must be in a ready list, so there is no need to
\r
1936 check, and the port reset macro can be called directly. */
\r
1937 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1940 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1942 if( xTicksToWait == portMAX_DELAY )
\r
1944 /* Add ourselves to the suspended task list instead of a delayed task
\r
1945 list to ensure we are not woken by a timing event. We will block
\r
1947 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
1951 /* Calculate the time at which the task should be woken if the event does
\r
1952 not occur. This may overflow but this doesn't matter. */
\r
1953 xTimeToWake = xTickCount + xTicksToWait;
\r
1954 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1957 #else /* INCLUDE_vTaskSuspend */
\r
1959 /* Calculate the time at which the task should be woken if the event does
\r
1960 not occur. This may overflow but this doesn't matter. */
\r
1961 xTimeToWake = xTickCount + xTicksToWait;
\r
1962 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1964 #endif /* INCLUDE_vTaskSuspend */
\r
1966 /*-----------------------------------------------------------*/
\r
1968 void vTaskPlaceOnUnorderedEventList( xList * pxEventList, portTickType xItemValue, const portTickType xTicksToWait )
\r
1970 portTickType xTimeToWake;
\r
1972 configASSERT( pxEventList );
\r
1974 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1975 SCHEDULER SUSPENDED. */
\r
1977 /* Store the item value in the event list item. */
\r
1978 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue );
\r
1980 /* Place the event list item of the TCB at the end of the appropriate event
\r
1982 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
1984 /* The task must be removed from the ready list before it is added to the
\r
1985 blocked list. Exclusive access can be assured to the ready list as the
\r
1986 scheduler is locked. */
\r
1987 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
1989 /* The current task must be in a ready list, so there is no need to
\r
1990 check, and the port reset macro can be called directly. */
\r
1991 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1994 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1996 if( xTicksToWait == portMAX_DELAY )
\r
1998 /* Add the task to the suspended task list instead of a delayed task
\r
1999 list to ensure it is not woken by a timing event. It will block
\r
2001 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2005 /* Calculate the time at which the task should be woken if the event does
\r
2006 not occur. This may overflow but this doesn't matter. */
\r
2007 xTimeToWake = xTickCount + xTicksToWait;
\r
2008 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2011 #else /* INCLUDE_vTaskSuspend */
\r
2013 /* Calculate the time at which the task should be woken if the event does
\r
2014 not occur. This may overflow but this doesn't matter. */
\r
2015 xTimeToWake = xTickCount + xTicksToWait;
\r
2016 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2018 #endif /* INCLUDE_vTaskSuspend */
\r
2020 /*-----------------------------------------------------------*/
\r
2022 #if configUSE_TIMERS == 1
\r
2024 void vTaskPlaceOnEventListRestricted( xList * const pxEventList, portTickType xTicksToWait )
\r
2026 portTickType xTimeToWake;
\r
2028 configASSERT( pxEventList );
\r
2030 /* This function should not be called by application code hence the
\r
2031 'Restricted' in its name. It is not part of the public API. It is
\r
2032 designed for use by kernel code, and has special calling requirements -
\r
2033 it should be called from a critical section. */
\r
2036 /* Place the event list item of the TCB in the appropriate event list.
\r
2037 In this case it is assume that this is the only task that is going to
\r
2038 be waiting on this event list, so the faster vListInsertEnd() function
\r
2039 can be used in place of vListInsert. */
\r
2040 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2042 /* We must remove this task from the ready list before adding it to the
\r
2043 blocked list as the same list item is used for both lists. This
\r
2044 function is called form a critical section. */
\r
2045 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
2047 /* The current task must be in a ready list, so there is no need to
\r
2048 check, and the port reset macro can be called directly. */
\r
2049 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2052 /* Calculate the time at which the task should be woken if the event does
\r
2053 not occur. This may overflow but this doesn't matter. */
\r
2054 xTimeToWake = xTickCount + xTicksToWait;
\r
2056 traceTASK_DELAY_UNTIL();
\r
2057 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2060 #endif /* configUSE_TIMERS */
\r
2061 /*-----------------------------------------------------------*/
\r
2063 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
2065 tskTCB *pxUnblockedTCB;
\r
2066 portBASE_TYPE xReturn;
\r
2068 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
2069 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
2071 /* The event list is sorted in priority order, so we can remove the
\r
2072 first in the list, remove the TCB from the delayed list, and add
\r
2073 it to the ready list.
\r
2075 If an event is for a queue that is locked then this function will never
\r
2076 get called - the lock count on the queue will get modified instead. This
\r
2077 means we can always expect exclusive access to the event list here.
\r
2079 This function assumes that a check has already been made to ensure that
\r
2080 pxEventList is not empty. */
\r
2081 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
2082 configASSERT( pxUnblockedTCB );
\r
2083 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
2085 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2087 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2088 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2092 /* We cannot access the delayed or ready lists, so will hold this
\r
2093 task pending until the scheduler is resumed. */
\r
2094 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
2097 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2099 /* Return true if the task removed from the event list has
\r
2100 a higher priority than the calling task. This allows
\r
2101 the calling task to know if it should force a context
\r
2105 /* Mark that a yield is pending in case the user is not using the
\r
2106 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2107 xYieldPending = pdTRUE;
\r
2111 xReturn = pdFALSE;
\r
2116 /*-----------------------------------------------------------*/
\r
2118 signed portBASE_TYPE xTaskRemoveFromUnorderedEventList( xListItem * pxEventListItem, portTickType xItemValue )
\r
2120 tskTCB *pxUnblockedTCB;
\r
2121 portBASE_TYPE xReturn;
\r
2123 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
2124 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
2126 /* Store the new item value in the event list. */
\r
2127 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue );
\r
2129 /* Remove the TCB from the delayed list, and add it to the ready list. */
\r
2131 pxUnblockedTCB = ( tskTCB * ) listGET_LIST_ITEM_OWNER( pxEventListItem );
\r
2132 configASSERT( pxUnblockedTCB );
\r
2133 ( void ) uxListRemove( pxEventListItem );
\r
2135 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2137 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2138 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2142 /* Cannot access the delayed or ready lists, so will hold this task
\r
2143 pending until the scheduler is resumed. */
\r
2144 vListInsertEnd( &( xPendingReadyList ), pxEventListItem );
\r
2147 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2149 /* Return true if the task removed from the event list has
\r
2150 a higher priority than the calling task. This allows
\r
2151 the calling task to know if it should force a context
\r
2155 /* Mark that a yield is pending in case the user is not using the
\r
2156 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2157 xYieldPending = pdTRUE;
\r
2161 xReturn = pdFALSE;
\r
2166 /*-----------------------------------------------------------*/
\r
2168 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
2170 configASSERT( pxTimeOut );
\r
2171 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
2172 pxTimeOut->xTimeOnEntering = xTickCount;
\r
2174 /*-----------------------------------------------------------*/
\r
2176 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
2178 portBASE_TYPE xReturn;
\r
2180 configASSERT( pxTimeOut );
\r
2181 configASSERT( pxTicksToWait );
\r
2183 taskENTER_CRITICAL();
\r
2185 /* Minor optimisation. The tick count cannot change in this block. */
\r
2186 const portTickType xConstTickCount = xTickCount;
\r
2188 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2189 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
2190 the maximum block time then the task should block indefinitely, and
\r
2191 therefore never time out. */
\r
2192 if( *pxTicksToWait == portMAX_DELAY )
\r
2194 xReturn = pdFALSE;
\r
2196 else /* We are not blocking indefinitely, perform the checks below. */
\r
2199 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
2201 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
2202 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
2203 It must have wrapped all the way around and gone past us again. This
\r
2204 passed since vTaskSetTimeout() was called. */
\r
2207 else if( ( xConstTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
\r
2209 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2210 *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );
\r
2211 vTaskSetTimeOutState( pxTimeOut );
\r
2212 xReturn = pdFALSE;
\r
2219 taskEXIT_CRITICAL();
\r
2223 /*-----------------------------------------------------------*/
\r
2225 void vTaskMissedYield( void )
\r
2227 xYieldPending = pdTRUE;
\r
2229 /*-----------------------------------------------------------*/
\r
2231 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2233 unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask )
\r
2235 unsigned portBASE_TYPE uxReturn;
\r
2238 if( xTask != NULL )
\r
2240 pxTCB = ( tskTCB * ) xTask;
\r
2241 uxReturn = pxTCB->uxTaskNumber;
\r
2251 #endif /* configUSE_TRACE_FACILITY */
\r
2252 /*-----------------------------------------------------------*/
\r
2254 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2256 void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle )
\r
2260 if( xTask != NULL )
\r
2262 pxTCB = ( tskTCB * ) xTask;
\r
2263 pxTCB->uxTaskNumber = uxHandle;
\r
2267 #endif /* configUSE_TRACE_FACILITY */
\r
2270 * -----------------------------------------------------------
\r
2272 * ----------------------------------------------------------
\r
2274 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2275 * language extensions. The equivalent prototype for this function is:
\r
2277 * void prvIdleTask( void *pvParameters );
\r
2280 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2282 /* Stop warnings. */
\r
2283 ( void ) pvParameters;
\r
2287 /* See if any tasks have been deleted. */
\r
2288 prvCheckTasksWaitingTermination();
\r
2290 #if ( configUSE_PREEMPTION == 0 )
\r
2292 /* If we are not using preemption we keep forcing a task switch to
\r
2293 see if any other task has become available. If we are using
\r
2294 preemption we don't need to do this as any task becoming available
\r
2295 will automatically get the processor anyway. */
\r
2298 #endif /* configUSE_PREEMPTION */
\r
2300 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2302 /* When using preemption tasks of equal priority will be
\r
2303 timesliced. If a task that is sharing the idle priority is ready
\r
2304 to run then the idle task should yield before the end of the
\r
2307 A critical region is not required here as we are just reading from
\r
2308 the list, and an occasional incorrect value will not matter. If
\r
2309 the ready list at the idle priority contains more than one task
\r
2310 then a task other than the idle task is ready to execute. */
\r
2311 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
2316 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
2318 #if ( configUSE_IDLE_HOOK == 1 )
\r
2320 extern void vApplicationIdleHook( void );
\r
2322 /* Call the user defined function from within the idle task. This
\r
2323 allows the application designer to add background functionality
\r
2324 without the overhead of a separate task.
\r
2325 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2326 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2327 vApplicationIdleHook();
\r
2329 #endif /* configUSE_IDLE_HOOK */
\r
2331 /* This conditional compilation should use inequality to 0, not equality
\r
2332 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2333 user defined low power mode implementations require
\r
2334 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2335 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2337 portTickType xExpectedIdleTime;
\r
2339 /* It is not desirable to suspend then resume the scheduler on
\r
2340 each iteration of the idle task. Therefore, a preliminary
\r
2341 test of the expected idle time is performed without the
\r
2342 scheduler suspended. The result here is not necessarily
\r
2344 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2346 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2348 vTaskSuspendAll();
\r
2350 /* Now the scheduler is suspended, the expected idle
\r
2351 time can be sampled again, and this time its value can
\r
2353 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2354 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2356 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2358 traceLOW_POWER_IDLE_BEGIN();
\r
2359 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2360 traceLOW_POWER_IDLE_END();
\r
2363 ( void ) xTaskResumeAll();
\r
2366 #endif /* configUSE_TICKLESS_IDLE */
\r
2369 /*-----------------------------------------------------------*/
\r
2371 #if configUSE_TICKLESS_IDLE != 0
\r
2373 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
2375 eSleepModeStatus eReturn = eStandardSleep;
\r
2377 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
2379 /* A task was made ready while the scheduler was suspended. */
\r
2380 eReturn = eAbortSleep;
\r
2382 else if( xYieldPending != pdFALSE )
\r
2384 /* A yield was pended while the scheduler was suspended. */
\r
2385 eReturn = eAbortSleep;
\r
2389 #if configUSE_TIMERS == 0
\r
2391 /* The idle task exists in addition to the application tasks. */
\r
2392 const unsigned portBASE_TYPE uxNonApplicationTasks = 1;
\r
2394 /* If timers are not being used and all the tasks are in the
\r
2395 suspended list (which might mean they have an infinite block
\r
2396 time rather than actually being suspended) then it is safe to
\r
2397 turn all clocks off and just wait for external interrupts. */
\r
2398 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
2400 eReturn = eNoTasksWaitingTimeout;
\r
2403 #endif /* configUSE_TIMERS */
\r
2408 #endif /* configUSE_TICKLESS_IDLE */
\r
2409 /*-----------------------------------------------------------*/
\r
2411 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
2413 unsigned portBASE_TYPE x;
\r
2415 /* Store the task name in the TCB. */
\r
2416 for( x = ( unsigned portBASE_TYPE ) 0; x < ( unsigned portBASE_TYPE ) configMAX_TASK_NAME_LEN; x++ )
\r
2418 pxTCB->pcTaskName[ x ] = pcName[ x ];
\r
2420 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
2421 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
2422 string is not accessible (extremely unlikely). */
\r
2423 if( pcName[ x ] == 0x00 )
\r
2429 /* Ensure the name string is terminated in the case that the string length
\r
2430 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
2431 pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = ( signed char ) '\0';
\r
2433 /* This is used as an array index so must ensure it's not too large. First
\r
2434 remove the privilege bit if one is present. */
\r
2435 if( uxPriority >= ( unsigned portBASE_TYPE ) configMAX_PRIORITIES )
\r
2437 uxPriority = ( unsigned portBASE_TYPE ) configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
2440 pxTCB->uxPriority = uxPriority;
\r
2441 #if ( configUSE_MUTEXES == 1 )
\r
2443 pxTCB->uxBasePriority = uxPriority;
\r
2445 #endif /* configUSE_MUTEXES */
\r
2447 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2448 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2450 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
2451 back to the containing TCB from a generic item in a list. */
\r
2452 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2454 /* Event lists are always in priority order. */
\r
2455 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( portTickType ) configMAX_PRIORITIES - ( portTickType ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2456 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2458 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2460 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U;
\r
2462 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2464 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2466 pxTCB->pxTaskTag = NULL;
\r
2468 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2470 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2472 pxTCB->ulRunTimeCounter = 0UL;
\r
2474 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2476 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2478 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2480 #else /* portUSING_MPU_WRAPPERS */
\r
2482 ( void ) xRegions;
\r
2483 ( void ) usStackDepth;
\r
2485 #endif /* portUSING_MPU_WRAPPERS */
\r
2487 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2489 /* Initialise this task's Newlib reent structure. */
\r
2490 _REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );
\r
2492 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2494 /*-----------------------------------------------------------*/
\r
2496 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2498 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
2502 /* If null is passed in here then we are deleting ourselves. */
\r
2503 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2505 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2508 #endif /* portUSING_MPU_WRAPPERS */
\r
2509 /*-----------------------------------------------------------*/
\r
2511 static void prvInitialiseTaskLists( void )
\r
2513 unsigned portBASE_TYPE uxPriority;
\r
2515 for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < ( unsigned portBASE_TYPE ) configMAX_PRIORITIES; uxPriority++ )
\r
2517 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
2520 vListInitialise( &xDelayedTaskList1 );
\r
2521 vListInitialise( &xDelayedTaskList2 );
\r
2522 vListInitialise( &xPendingReadyList );
\r
2524 #if ( INCLUDE_vTaskDelete == 1 )
\r
2526 vListInitialise( &xTasksWaitingTermination );
\r
2528 #endif /* INCLUDE_vTaskDelete */
\r
2530 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2532 vListInitialise( &xSuspendedTaskList );
\r
2534 #endif /* INCLUDE_vTaskSuspend */
\r
2536 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2538 pxDelayedTaskList = &xDelayedTaskList1;
\r
2539 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2541 /*-----------------------------------------------------------*/
\r
2543 static void prvCheckTasksWaitingTermination( void )
\r
2545 #if ( INCLUDE_vTaskDelete == 1 )
\r
2547 portBASE_TYPE xListIsEmpty;
\r
2549 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2550 too often in the idle task. */
\r
2551 while( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
\r
2553 vTaskSuspendAll();
\r
2554 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2555 ( void ) xTaskResumeAll();
\r
2557 if( xListIsEmpty == pdFALSE )
\r
2561 taskENTER_CRITICAL();
\r
2563 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
\r
2564 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2565 --uxCurrentNumberOfTasks;
\r
2568 taskEXIT_CRITICAL();
\r
2570 prvDeleteTCB( pxTCB );
\r
2574 #endif /* vTaskDelete */
\r
2576 /*-----------------------------------------------------------*/
\r
2578 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
\r
2580 /* The list item will be inserted in wake time order. */
\r
2581 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2583 if( xTimeToWake < xTickCount )
\r
2585 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2586 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2590 /* The wake time has not overflowed, so the current block list is used. */
\r
2591 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2593 /* If the task entering the blocked state was placed at the head of the
\r
2594 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
2596 if( xTimeToWake < xNextTaskUnblockTime )
\r
2598 xNextTaskUnblockTime = xTimeToWake;
\r
2602 /*-----------------------------------------------------------*/
\r
2604 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2608 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2609 the implementation of the port malloc function. */
\r
2610 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2612 if( pxNewTCB != NULL )
\r
2614 /* Allocate space for the stack used by the task being created.
\r
2615 The base of the stack memory stored in the TCB so the task can
\r
2616 be deleted later if required. */
\r
2617 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2619 if( pxNewTCB->pxStack == NULL )
\r
2621 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2622 vPortFree( pxNewTCB );
\r
2627 /* Avoid dependency on memset() if it is not required. */
\r
2628 #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2630 /* Just to help debugging. */
\r
2631 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2633 #endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */
\r
2639 /*-----------------------------------------------------------*/
\r
2641 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2643 static unsigned portBASE_TYPE prvListTaskWithinSingleList( xTaskStatusType *pxTaskStatusArray, xList *pxList, eTaskState eState )
\r
2645 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2646 unsigned portBASE_TYPE uxTask = 0;
\r
2648 if( listCURRENT_LIST_LENGTH( pxList ) > ( unsigned portBASE_TYPE ) 0 )
\r
2650 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2652 /* Populate an xTaskStatusType structure within the
\r
2653 pxTaskStatusArray array for each task that is referenced from
\r
2654 pxList. See the definition of xTaskStatusType in task.h for the
\r
2655 meaning of each xTaskStatusType structure member. */
\r
2658 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2660 pxTaskStatusArray[ uxTask ].xHandle = ( xTaskHandle ) pxNextTCB;
\r
2661 pxTaskStatusArray[ uxTask ].pcTaskName = ( const signed char * ) &( pxNextTCB->pcTaskName [ 0 ] );
\r
2662 pxTaskStatusArray[ uxTask ].xTaskNumber = pxNextTCB->uxTCBNumber;
\r
2663 pxTaskStatusArray[ uxTask ].eCurrentState = eState;
\r
2664 pxTaskStatusArray[ uxTask ].uxCurrentPriority = pxNextTCB->uxPriority;
\r
2666 #if ( configUSE_MUTEXES == 1 )
\r
2668 pxTaskStatusArray[ uxTask ].uxBasePriority = pxNextTCB->uxBasePriority;
\r
2672 pxTaskStatusArray[ uxTask ].uxBasePriority = 0;
\r
2676 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2678 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = pxNextTCB->ulRunTimeCounter;
\r
2682 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = 0;
\r
2686 #if ( portSTACK_GROWTH > 0 )
\r
2688 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2692 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2698 } while( pxNextTCB != pxFirstTCB );
\r
2704 #endif /* configUSE_TRACE_FACILITY */
\r
2705 /*-----------------------------------------------------------*/
\r
2707 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2709 static unsigned short prvTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2711 unsigned long ulCount = 0U;
\r
2713 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2715 pucStackByte -= portSTACK_GROWTH;
\r
2719 ulCount /= ( unsigned long ) sizeof( portSTACK_TYPE );
\r
2721 return ( unsigned short ) ulCount;
\r
2724 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
2725 /*-----------------------------------------------------------*/
\r
2727 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2729 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2732 unsigned char *pcEndOfStack;
\r
2733 unsigned portBASE_TYPE uxReturn;
\r
2735 pxTCB = prvGetTCBFromHandle( xTask );
\r
2737 #if portSTACK_GROWTH < 0
\r
2739 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2743 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2747 uxReturn = ( unsigned portBASE_TYPE ) prvTaskCheckFreeStackSpace( pcEndOfStack );
\r
2752 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
2753 /*-----------------------------------------------------------*/
\r
2755 #if ( INCLUDE_vTaskDelete == 1 )
\r
2757 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2759 /* This call is required specifically for the TriCore port. It must be
\r
2760 above the vPortFree() calls. The call is also used by ports/demos that
\r
2761 want to allocate and clean RAM statically. */
\r
2762 portCLEAN_UP_TCB( pxTCB );
\r
2764 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2765 the task to free any memory allocated at the application level. */
\r
2766 vPortFreeAligned( pxTCB->pxStack );
\r
2767 vPortFree( pxTCB );
\r
2770 #endif /* INCLUDE_vTaskDelete */
\r
2771 /*-----------------------------------------------------------*/
\r
2773 static void prvResetNextTaskUnblockTime( void )
\r
2777 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
2779 /* The new current delayed list is empty. Set
\r
2780 xNextTaskUnblockTime to the maximum possible value so it is
\r
2781 extremely unlikely that the
\r
2782 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
2783 there is an item in the delayed list. */
\r
2784 xNextTaskUnblockTime = portMAX_DELAY;
\r
2788 /* The new current delayed list is not empty, get the value of
\r
2789 the item at the head of the delayed list. This is the time at
\r
2790 which the task at the head of the delayed list should be removed
\r
2791 from the Blocked state. */
\r
2792 ( pxTCB ) = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
2793 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xGenericListItem ) );
\r
2796 /*-----------------------------------------------------------*/
\r
2798 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
2800 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2802 xTaskHandle xReturn;
\r
2804 /* A critical section is not required as this is not called from
\r
2805 an interrupt and the current TCB will always be the same for any
\r
2806 individual execution thread. */
\r
2807 xReturn = pxCurrentTCB;
\r
2812 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
2813 /*-----------------------------------------------------------*/
\r
2815 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
2817 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2819 portBASE_TYPE xReturn;
\r
2821 if( xSchedulerRunning == pdFALSE )
\r
2823 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2827 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2829 xReturn = taskSCHEDULER_RUNNING;
\r
2833 xReturn = taskSCHEDULER_SUSPENDED;
\r
2840 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
2841 /*-----------------------------------------------------------*/
\r
2843 #if ( configUSE_MUTEXES == 1 )
\r
2845 void vTaskPriorityInherit( xTaskHandle const pxMutexHolder )
\r
2847 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2849 /* If the mutex was given back by an interrupt while the queue was
\r
2850 locked then the mutex holder might now be NULL. */
\r
2851 if( pxMutexHolder != NULL )
\r
2853 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2855 /* Adjust the mutex holder state to account for its new priority. */
\r
2856 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( portTickType ) configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2858 /* If the task being modified is in the ready state it will need to
\r
2859 be moved into a new list. */
\r
2860 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
2862 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
2864 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2867 /* Inherit the priority before being moved into the new list. */
\r
2868 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2869 prvAddTaskToReadyList( pxTCB );
\r
2873 /* Just inherit the priority. */
\r
2874 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2877 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
2882 #endif /* configUSE_MUTEXES */
\r
2883 /*-----------------------------------------------------------*/
\r
2885 #if ( configUSE_MUTEXES == 1 )
\r
2887 void vTaskPriorityDisinherit( xTaskHandle const pxMutexHolder )
\r
2889 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2891 if( pxMutexHolder != NULL )
\r
2893 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2895 /* We must be the running task to be able to give the mutex back.
\r
2896 Remove ourselves from the ready list we currently appear in. */
\r
2897 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
2899 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2902 /* Disinherit the priority before adding the task into the new
\r
2904 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
2905 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2906 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( portTickType ) configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2907 prvAddTaskToReadyList( pxTCB );
\r
2912 #endif /* configUSE_MUTEXES */
\r
2913 /*-----------------------------------------------------------*/
\r
2915 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2917 void vTaskEnterCritical( void )
\r
2919 portDISABLE_INTERRUPTS();
\r
2921 if( xSchedulerRunning != pdFALSE )
\r
2923 ( pxCurrentTCB->uxCriticalNesting )++;
\r
2927 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2928 /*-----------------------------------------------------------*/
\r
2930 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2932 void vTaskExitCritical( void )
\r
2934 if( xSchedulerRunning != pdFALSE )
\r
2936 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
2938 ( pxCurrentTCB->uxCriticalNesting )--;
\r
2940 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
2942 portENABLE_INTERRUPTS();
\r
2948 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2949 /*-----------------------------------------------------------*/
\r
2951 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
\r
2953 void vTaskList( signed char *pcWriteBuffer )
\r
2955 xTaskStatusType *pxTaskStatusArray;
\r
2956 volatile unsigned portBASE_TYPE uxArraySize, x;
\r
2957 signed char cStatus;
\r
2962 * This function is provided for convenience only, and is used by many
\r
2963 * of the demo applications. Do not consider it to be part of the
\r
2966 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
2967 * uxTaskGetSystemState() output into a human readable table that
\r
2968 * displays task names, states and stack usage.
\r
2970 * vTaskList() has a dependency on the sprintf() C library function that
\r
2971 * might bloat the code size, use a lot of stack, and provide different
\r
2972 * results on different platforms. An alternative, tiny, third party,
\r
2973 * and limited functionality implementation of sprintf() is provided in
\r
2974 * many of the FreeRTOS/Demo sub-directories in a file called
\r
2975 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
2976 * snprintf() implementation!).
\r
2978 * It is recommended that production systems call uxTaskGetSystemState()
\r
2979 * directly to get access to raw stats data, rather than indirectly
\r
2980 * through a call to vTaskList().
\r
2984 /* Make sure the write buffer does not contain a string. */
\r
2985 *pcWriteBuffer = 0x00;
\r
2987 /* Take a snapshot of the number of tasks in case it changes while this
\r
2988 function is executing. */
\r
2989 uxArraySize = uxCurrentNumberOfTasks;
\r
2991 /* Allocate an array index for each task. */
\r
2992 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( xTaskStatusType ) );
\r
2994 if( pxTaskStatusArray != NULL )
\r
2996 /* Generate the (binary) data. */
\r
2997 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
2999 /* Create a human readable table from the binary data. */
\r
3000 for( x = 0; x < uxArraySize; x++ )
\r
3002 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
3004 case eReady: cStatus = tskREADY_CHAR;
\r
3007 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
3010 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
3013 case eDeleted: cStatus = tskDELETED_CHAR;
\r
3016 default: /* Should not get here, but it is included
\r
3017 to prevent static checking errors. */
\r
3022 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxTaskStatusArray[ x ].pcTaskName, ( char ) cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber );
\r
3023 pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
\r
3026 /* Free the array again. */
\r
3027 vPortFree( pxTaskStatusArray );
\r
3031 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) ) */
\r
3032 /*----------------------------------------------------------*/
\r
3034 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
\r
3036 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
3038 xTaskStatusType *pxTaskStatusArray;
\r
3039 volatile unsigned portBASE_TYPE uxArraySize, x;
\r
3040 unsigned long ulTotalTime, ulStatsAsPercentage;
\r
3045 * This function is provided for convenience only, and is used by many
\r
3046 * of the demo applications. Do not consider it to be part of the
\r
3049 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
3050 * of the uxTaskGetSystemState() output into a human readable table that
\r
3051 * displays the amount of time each task has spent in the Running state
\r
3052 * in both absolute and percentage terms.
\r
3054 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
3055 * function that might bloat the code size, use a lot of stack, and
\r
3056 * provide different results on different platforms. An alternative,
\r
3057 * tiny, third party, and limited functionality implementation of
\r
3058 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
3059 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
3060 * a full snprintf() implementation!).
\r
3062 * It is recommended that production systems call uxTaskGetSystemState()
\r
3063 * directly to get access to raw stats data, rather than indirectly
\r
3064 * through a call to vTaskGetRunTimeStats().
\r
3067 /* Make sure the write buffer does not contain a string. */
\r
3068 *pcWriteBuffer = 0x00;
\r
3070 /* Take a snapshot of the number of tasks in case it changes while this
\r
3071 function is executing. */
\r
3072 uxArraySize = uxCurrentNumberOfTasks;
\r
3074 /* Allocate an array index for each task. */
\r
3075 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( xTaskStatusType ) );
\r
3077 if( pxTaskStatusArray != NULL )
\r
3079 /* Generate the (binary) data. */
\r
3080 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
3082 /* For percentage calculations. */
\r
3083 ulTotalTime /= 100UL;
\r
3085 /* Avoid divide by zero errors. */
\r
3086 if( ulTotalTime > 0 )
\r
3088 /* Create a human readable table from the binary data. */
\r
3089 for( x = 0; x < uxArraySize; x++ )
\r
3091 /* What percentage of the total run time has the task used?
\r
3092 This will always be rounded down to the nearest integer.
\r
3093 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
3094 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
3096 if( ulStatsAsPercentage > 0UL )
\r
3098 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3100 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
3104 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3105 printf() library can be used. */
\r
3106 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
3112 /* If the percentage is zero here then the task has
\r
3113 consumed less than 1% of the total run time. */
\r
3114 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3116 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3120 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3121 printf() library can be used. */
\r
3122 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3127 pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
\r
3131 /* Free the array again. */
\r
3132 vPortFree( pxTaskStatusArray );
\r
3136 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) ) */
\r
3137 /*-----------------------------------------------------------*/
\r
3139 portTickType uxTaskResetEventItemValue( void )
\r
3141 portTickType uxReturn;
\r
3143 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
3145 /* Reset the event list item to its normal value - so it can be used with
\r
3146 queues and semaphores. */
\r
3147 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), ( ( portTickType ) configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3151 /*-----------------------------------------------------------*/
\r
projects / freertos / blob